From 34d858d1861396300341230bc49b185936a43dc3 Mon Sep 17 00:00:00 2001
From: iceuw <m201770623@hust.edu.cn>
Date: Sat, 24 Feb 2024 00:55:37 +0800
Subject: [PATCH] Fix goal handle was not freed correctly (#4137)

* Fix goal handle was not freed correctly

* Update nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Ziohang <hang.zhou@agvsz.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 2e491b18328ede064c75bfa024f57c7e49578eba)
---
 nav2_util/include/nav2_util/simple_action_server.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_util/include/nav2_util/simple_action_server.hpp b/nav2_util/include/nav2_util/simple_action_server.hpp
index f05a4602ac..4ee84d3b1d 100644
--- a/nav2_util/include/nav2_util/simple_action_server.hpp
+++ b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -549,7 +549,7 @@ class SimpleActionServer
    * @param the Results object to terminate the action with
    */
   void terminate(
-    std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> handle,
+    std::shared_ptr<rclcpp_action::ServerGoalHandle<ActionT>> & handle,
     typename std::shared_ptr<typename ActionT::Result> result =
     std::make_shared<typename ActionT::Result>())
   {