Fix goal handle was not freed correctly (ros-navigation#4137)

iceuw · Ziohang · SteveMacenski · web-flow · commit 2e491b18328e · 2024-02-23T08:55:37.000-08:00
* Fix goal handle was not freed correctly

* Update nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

---------

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
Co-authored-by: Ziohang &lt;hang.zhou@agvsz.com&gt;
Co-authored-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
diff --git a/nav2_util/include/nav2_util/simple_action_server.hpp b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -574,7 +574,7 @@ class SimpleActionServer
    * @param the Results object to terminate the action with
    */
   void terminate(
-    std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle,
+    std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> & handle,
     typename std::shared_ptr<typename ActionT::Result> result =
     std::make_shared<typename ActionT::Result>())
   {

Original file line number	Diff line number	Diff line change
`@@ -574,7 +574,7 @@ class SimpleActionServer`
`574`	`574`	`* @param the Results object to terminate the action with`
`575`	`575`	`*/`
`576`	`576`	`void terminate(`
`577`		`- std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle,`
	`577`	`+ std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> & handle,`
`578`	`578`	`typename std::shared_ptr<typename ActionT::Result> result =`
`579`	`579`	`std::make_shared<typename ActionT::Result>())`
`580`	`580`	`{`