From aa65716a2ff02f0550f6171f7c703c59313790e6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20D=C4=85browski?= <kacper.dabrowski@robotec.ai>
Date: Tue, 28 Oct 2025 19:09:58 +0100
Subject: [PATCH] Fix lambda captures
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Signed-off-by: Kacper Dąbrowski <kacper.dabrowski@robotec.ai>
---
 .../src/rai_manipulation_interface_node.cpp                | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp b/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp
index 60ded72..f026744 100644
--- a/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp
+++ b/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp
@@ -42,9 +42,11 @@ void RaiManipulationInterfaceNode::Initialize(ArmController & arm)
 
   m_moveToService = m_node->create_service<rai_interfaces::srv::ManipulatorMoveTo>(
     "/manipulator_move_to",
-    [&](
+    [&arm, this](
       std::shared_ptr<rai_interfaces::srv::ManipulatorMoveTo::Request> const request,
       std::shared_ptr<rai_interfaces::srv::ManipulatorMoveTo::Response> response) {
+      auto logger = m_node->get_logger();
+
       RCLCPP_INFO(logger, "Received move request");
 
       response->success = false;
@@ -111,9 +113,10 @@ void RaiManipulationInterfaceNode::Initialize(ArmController & arm)
 
   m_resetService = m_node->create_service<std_srvs::srv::Trigger>(
     "/reset_manipulator",
-    [&](
+    [&arm, this](
       [[maybe_unused]] std::shared_ptr<std_srvs::srv::Trigger::Request> const request,
       std::shared_ptr<std_srvs::srv::Trigger::Response> response) {
+      auto logger = m_node->get_logger();
       RCLCPP_INFO(logger, "Received reset request");
       response->success = arm.SetJointValues(m_startingPose);
     });