Add scoped lock (#2045)

Author: Wiktor-99

hardware_interface/include/hardware_interface/handle.hpp

@@ -158,8 +158,7 @@ class Handle
 private:
   void copy(const Handle & other) noexcept
   {
-    std::unique_lock<std::shared_mutex> lock(other.handle_mutex_);
-    std::unique_lock<std::shared_mutex> lock_this(handle_mutex_);
+    std::scoped_lock lock(other.handle_mutex_, handle_mutex_);
     prefix_name_ = other.prefix_name_;
     interface_name_ = other.interface_name_;
     handle_name_ = other.handle_name_;
@@ -176,8 +175,7 @@ class Handle
 
   void swap(Handle & first, Handle & second) noexcept
   {
-    std::unique_lock<std::shared_mutex> lock(first.handle_mutex_);
-    std::unique_lock<std::shared_mutex> lock_this(second.handle_mutex_);
+    std::scoped_lock lock(first.handle_mutex_, second.handle_mutex_);
     std::swap(first.prefix_name_, second.prefix_name_);
     std::swap(first.interface_name_, second.interface_name_);
     std::swap(first.handle_name_, second.handle_name_);