lab2.md

@@ -455,9 +455,8 @@ private:
   rclcpp::TimerBase::SharedPtr timer_;
   std::thread cancel_thread_;
 
-  void goal_response_callback(std::shared_future<GoalHandleNavigateToPose::SharedPtr> future)
+  void goal_response_callback(const GoalHandleNavigateToPose::SharedPtr & goal_handle)
   {
-    auto goal_handle = future.get();
     if (!goal_handle) {
       RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
     } else {
@@ -466,7 +465,7 @@ private:
   }
 
   void feedback_callback(
-    GoalHandleNavigateToPose::SharedPtr goal_handle,
+    GoalHandleNavigateToPose::SharedPtr,
     const std::shared_ptr<const NavigateToPose::Feedback> feedback)
   {
     if(feedback->navigation_time.sec>60)