From e343e49e4ce2a9f6ee06762fb9cb95e63e33d3e9 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rj.oomen@isohorti.com>
Date: Mon, 8 Jan 2024 11:18:25 +0100
Subject: [PATCH] Simplify thread construction

---
 tesseract_monitoring/src/environment_monitor.cpp          | 8 ++++----
 tesseract_rosutils/src/plotting.cpp                       | 4 ++--
 tesseract_rviz/src/environment_monitor_properties.cpp     | 4 ++--
 .../src/joint_trajectory_monitor_properties.cpp           | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/tesseract_monitoring/src/environment_monitor.cpp b/tesseract_monitoring/src/environment_monitor.cpp
index afe0caa5..c1e4e038 100644
--- a/tesseract_monitoring/src/environment_monitor.cpp
+++ b/tesseract_monitoring/src/environment_monitor.cpp
@@ -82,10 +82,10 @@ ROSEnvironmentMonitor::ROSEnvironmentMonitor(rclcpp::Node::SharedPtr node,
   }
 
   internal_node_executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-  internal_node_spinner_ = std::make_shared<std::thread>(std::thread{ [this]() {
+  internal_node_spinner_ = std::make_shared<std::thread>([this]() {
     internal_node_executor_->add_node(internal_node_);
     internal_node_executor_->spin();
-  } });
+  });
 }
 
 ROSEnvironmentMonitor::ROSEnvironmentMonitor(rclcpp::Node::SharedPtr node,
@@ -102,10 +102,10 @@ ROSEnvironmentMonitor::ROSEnvironmentMonitor(rclcpp::Node::SharedPtr node,
     RCLCPP_WARN(logger_, "ENV passed to ros env monitor did not initialize");
   }
   internal_node_executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-  internal_node_spinner_ = std::make_shared<std::thread>(std::thread{ [this]() {
+  internal_node_spinner_ = std::make_shared<std::thread>([this]() {
     internal_node_executor_->add_node(internal_node_);
     internal_node_executor_->spin();
-  } });
+  });
 }
 
 ROSEnvironmentMonitor::~ROSEnvironmentMonitor()
diff --git a/tesseract_rosutils/src/plotting.cpp b/tesseract_rosutils/src/plotting.cpp
index 557a35dd..b8a44026 100644
--- a/tesseract_rosutils/src/plotting.cpp
+++ b/tesseract_rosutils/src/plotting.cpp
@@ -62,11 +62,11 @@ ROSPlotting::ROSPlotting(std::string root_link, std::string topic_namespace)
       node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace + "/display_tool_path", 1);
 
   internal_node_executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-  internal_node_spinner_ = std::make_shared<std::thread>(std::thread{ [this]() {
+  internal_node_spinner_ = std::make_shared<std::thread>([this]() {
     internal_node_executor_->add_node(node_);
     internal_node_executor_->spin();
     internal_node_executor_->remove_node(node_);
-  } });
+  });
 }
 
 ROSPlotting::~ROSPlotting()
diff --git a/tesseract_rviz/src/environment_monitor_properties.cpp b/tesseract_rviz/src/environment_monitor_properties.cpp
index ede85408..79936e31 100644
--- a/tesseract_rviz/src/environment_monitor_properties.cpp
+++ b/tesseract_rviz/src/environment_monitor_properties.cpp
@@ -137,11 +137,11 @@ void EnvironmentMonitorProperties::onInitialize(Ogre::SceneManager* scene_manage
   data_->joint_state_topic_property->initialize(ros_node_abstraction);
 
   data_->internal_node_executor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-  data_->internal_node_spinner = std::make_shared<std::thread>(std::thread{ [this]() {
+  data_->internal_node_spinner = std::make_shared<std::thread>([this]() {
     data_->internal_node_executor->add_node(data_->node);
     data_->internal_node_executor->spin();
     data_->internal_node_executor->remove_node(data_->node);
-  } });
+  });
 
   data_->scene_manager = scene_manager;
   data_->scene_node = scene_node;
diff --git a/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp b/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp
index 809d102c..501af07d 100644
--- a/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp
+++ b/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp
@@ -179,11 +179,11 @@ void JointTrajectoryMonitorProperties::onInitialize(rviz_common::DisplayContext*
   data_->tesseract_joint_trajectory_topic_property->initialize(ros_node_abstraction);
 
   data_->internal_node_executor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-  data_->internal_node_spinner = std::make_shared<std::thread>(std::thread{ [this]() {
+  data_->internal_node_spinner = std::make_shared<std::thread>([this]() {
     data_->internal_node_executor->add_node(data_->node);
     data_->internal_node_executor->spin();
     data_->internal_node_executor->remove_node(data_->node);
-  } });
+  });
 
   onLegacyJointTrajectoryTopicConnect();
   onTesseractJointTrajectoryTopicConnect();