From 2f104f1327bab8ef6a6aa93d656c69f7a9374f72 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Tue, 5 Sep 2023 09:13:38 +0200
Subject: [PATCH] Fix clang-tidy

---
 .../move_action_capability.cpp                     |  5 +++--
 .../planning_pipeline/src/planning_pipeline.cpp    | 14 +++++++-------
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
index ab0acd4d0c..b199bebc26 100644
--- a/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp
@@ -74,8 +74,9 @@ void MoveGroupMoveAction::initialize()
         preemptMoveCallback();
         return rclcpp_action::CancelResponse::ACCEPT;
       },
-      [this](std::shared_ptr<MGActionGoal> goal) {
-        std::thread{ std::bind(&MoveGroupMoveAction::executeMoveCallback, this, std::placeholders::_1), goal }.detach();
+      [this](const std::shared_ptr<MGActionGoal>& goal) {
+        std::thread{ [this](const std::shared_ptr<move_group::MGActionGoal>& goal) { executeMoveCallback(goal); }, goal }
+            .detach();
       });
 }
 
diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
index 838eefe9b7..4401b75b51 100644
--- a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
+++ b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
@@ -252,18 +252,18 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
       m.action = visualization_msgs::msg::Marker::DELETEALL;
       arr.markers.push_back(m);
 
-      std::vector<std::size_t> index;
-      if (!planning_scene->isPathValid(*res.trajectory, req.path_constraints, req.group_name, false, &index))
+      std::vector<std::size_t> indices;
+      if (!planning_scene->isPathValid(*res.trajectory, req.path_constraints, req.group_name, false, &indices))
       {
         // check to see if there is any problem with the states that are found to be invalid
         // they are considered ok if they were added by a planning request adapter
         bool problem = false;
-        for (std::size_t i = 0; i < index.size(); ++i)
+        for (auto const& index : indices)
         {
           bool found = false;
           for (std::size_t const& added_index : res.added_path_index)
           {
-            if (index.at(i) == added_index)
+            if (index == added_index)
             {
               found = true;
               break;
@@ -277,7 +277,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
         }
         if (problem)
         {
-          if (index.size() == 1 && index.at(0) == 0)
+          if (indices.size() == 1 && indices.at(0) == 0)
           {  // ignore cases when the robot starts at invalid location
             RCLCPP_DEBUG(LOGGER, "It appears the robot is starting at an invalid state, but that is ok.");
           }
@@ -287,7 +287,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
 
             // display error messages
             std::stringstream ss;
-            for (std::size_t it : index)
+            for (std::size_t it : indices)
             {
               ss << it << ' ';
             }
@@ -298,7 +298,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
                                             << contacts_publisher_->get_topic_name());
 
             // call validity checks in verbose mode for the problematic states
-            for (std::size_t it : index)
+            for (std::size_t it : indices)
             {
               // check validity with verbose on
               const moveit::core::RobotState& robot_state = res.trajectory->getWayPoint(it);