From fe3f6a537ee2d4d53563c56488364acb72df1b29 Mon Sep 17 00:00:00 2001
From: Ziohang <hang.zhou@agvsz.com>
Date: Fri, 23 Feb 2024 13:28:34 +0800
Subject: [PATCH 1/2] Fix goal handle was not freed correctly

---
 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 71828321f0..d7002d7694 100644
--- a/nav2_util/include/nav2_util/simple_action_server.hpp
+++ b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -574,7 +574,7 @@ 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>())
   {

From 48fea58f5fe0e0f538ecdcbb21f8f399bb9370ba Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Fri, 23 Feb 2024 08:55:20 -0800
Subject: [PATCH 2/2] Update
 nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
---
 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 d7002d7694..eec9c2dd9f 100644
--- a/nav2_util/include/nav2_util/simple_action_server.hpp
+++ b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -574,7 +574,7 @@ 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>())
   {