diff --git a/moveit_core/cost_functions/src/cost_functions.cpp b/moveit_core/cost_functions/src/cost_functions.cpp
index 13fbcc4113c..55fd0b71ac5 100644
--- a/moveit_core/cost_functions/src/cost_functions.cpp
+++ b/moveit_core/cost_functions/src/cost_functions.cpp
@@ -45,7 +45,7 @@ createClearanceCostFn(moveit::core::RobotState& robot_state, const std::string&
                       const planning_scene::PlanningSceneConstPtr& planning_scene)
 {
   // Create cost function
-  return [robot_state, group_name, planning_scene](const Eigen::VectorXd& state_vector) mutable {
+  return [&](const Eigen::VectorXd& state_vector) mutable {
     assert(state_vector.size() == robot_state.getRobotModel()->getJointModelGroup(group_name)->getActiveVariableCount());
     robot_state.setJointGroupActivePositions(group_name, state_vector);
     auto const shortest_distance_to_collision = planning_scene->distanceToCollision(robot_state);
@@ -64,7 +64,7 @@ createClearanceCostFn(moveit::core::RobotState& robot_state, const std::string&
 createMinJointDisplacementCostFn(moveit::core::RobotState& robot_state, const std::string& group_name,
                                  const planning_scene::PlanningSceneConstPtr& planning_scene)
 {
-  return [robot_state, group_name, planning_scene](const Eigen::VectorXd& state_vector) mutable {
+  return [&](const Eigen::VectorXd& state_vector) mutable {
     assert(state_vector.size() == robot_state.getRobotModel()->getJointModelGroup(group_name)->getActiveVariableCount());
     robot_state.setJointGroupActivePositions(group_name, state_vector);
     const auto& current_state = planning_scene->getCurrentState();