Revert impl

moveit · May 26, 2022 · fcdce1e · fcdce1e
1 parent 64690d0
commit fcdce1e
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/core/src/task.cpp b/core/src/task.cpp
@@ -281,10 +281,9 @@ moveit_msgs::msg::MoveItErrorCodes Task::execute(const SolutionBase& s) {
 	auto ac = rclcpp_action::create_client<moveit_task_constructor_msgs::action::ExecuteTaskSolution>(
 	    node, "execute_task_solution");
 	ac->wait_for_action_server();
-	auto impl = pimpl();
 
 	moveit_task_constructor_msgs::action::ExecuteTaskSolution::Goal goal;
-	s.fillMessage(goal.solution, impl->introspection_.get());
+	s.fillMessage(goal.solution, pimpl()->introspection_.get());
 	s.start()->scene()->getPlanningSceneMsg(goal.solution.start_scene);
 
 	moveit_msgs::msg::MoveItErrorCodes error_code;
@@ -303,7 +302,7 @@ moveit_msgs::msg::MoveItErrorCodes Task::execute(const SolutionBase& s) {
 
 	auto result_future = ac->async_get_result(goal_handle);
 	while (result_future.wait_for(std::chrono::milliseconds(10)) != std::future_status::ready) {
-		if (impl->preempt_requested_) {
+		if (pimpl()->preempt_requested_) {
 			auto cancel_future = ac->async_cancel_goal(goal_handle);
 			if (rclcpp::spin_until_future_complete(node, cancel_future) != rclcpp::FutureReturnCode::SUCCESS) {
 				RCLCPP_ERROR(node->get_logger(), "Could not preempt execution");