Merge pull request #10 from PickNikRobotics/pr-remove-untested-changes

Revert some untested changes

Author: Abishalini

capabilities/src/execute_task_solution_capability.cpp

@@ -176,12 +176,10 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 	    };
 
 	auto make_apply_planning_scene_diff_cb = [this](const std::vector<moveit_msgs::msg::PlanningScene>& scene_diffs) {
-		return [this,
-		        &scene_diffs = std::as_const(scene_diffs)](const plan_execution::ExecutableMotionPlan* /*plan*/) mutable {
-			for (auto& const_scene_diff : scene_diffs) {
-				if (!moveit::core::isEmpty(const_scene_diff)) {
+		return [this, scene_diffs = scene_diffs](const plan_execution::ExecutableMotionPlan* /*plan*/) mutable {
+			for (auto& scene_diff : scene_diffs) {
+				if (!moveit::core::isEmpty(scene_diff)) {
 					/* RCLCPP_DEBUG_STREAM(LOGGER, "apply effect of " << description); */
-					moveit_msgs::msg::PlanningScene scene_diff = const_scene_diff;
 					scene_diff.robot_state.joint_state = sensor_msgs::msg::JointState();
 					scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::msg::MultiDOFJointState();
 					if (!context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff))