From 02290aff452f5792a0e52e8631f2637d5095880f Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Mon, 4 Sep 2023 19:32:14 +0200
Subject: [PATCH] added moveit_interface

---
 src/moveit_interface.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/moveit_interface.cpp b/src/moveit_interface.cpp
index 8cdb43f..3d20c2d 100644
--- a/src/moveit_interface.cpp
+++ b/src/moveit_interface.cpp
@@ -25,14 +25,17 @@ class MoveitInterface : public rclcpp::Node
       publisher_ = this->create_publisher<moveit_msgs::msg::RobotTrajectory>("moveit_interface/joint_space_trajectory", 10);
       subcriber_ = this->create_subscription<geometry_msgs::msg::PoseArray>("moveit_interface/task_space_trajectory", 10, std::bind(&MoveitInterface::task_space_callback, this, std::placeholders::_1));
       execute_sub_ = this->create_subscription<std_msgs::msg::Empty>("moveit_interface/execution", 10, std::bind(&MoveitInterface::execution_callback, this, std::placeholders::_1));
-
+      
+      // Create a shared instance of the current node
+      auto shared_this = std::shared_ptr<rclcpp::Node>(this);
+      
       // Connecting to moveit
       static const std::string PLANNING_GROUP = "panda_arm";
-      move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(std::shared_ptr<rclcpp::Node>(std::move(this)), PLANNING_GROUP);
+      move_group_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(std::shared_ptr<rclcpp::Node>(shared_this), PLANNING_GROUP);
       // const moveit::core::JointModelGroup* joint_model_group = move_group_->getCurrentState()->getJointModelGroup(PLANNING_GROUP);
 
       // Connection to Rviz
-      visual_tools_ = std::make_shared<moveit_visual_tools::MoveItVisualTools>(std::shared_ptr<rclcpp::Node>(std::move(this)), "panda_link0", "move_group", move_group_->getRobotModel());
+      visual_tools_ = std::make_shared<moveit_visual_tools::MoveItVisualTools>(std::shared_ptr<rclcpp::Node>(shared_this), "panda_link0", "move_group", move_group_->getRobotModel());
       Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
       text_pose.translation().z()=1.0;
       visual_tools_->publishText(text_pose, "MoveGroupInterface_Demo", rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE);