Fix temporary copies of other semantic components (#1905)

Author: christophfroehlich

admittance_controller/src/admittance_controller.cpp

@@ -338,7 +338,7 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
 
   // Initialize FTS semantic semantic_component
   force_torque_sensor_ = std::make_unique<semantic_components::ForceTorqueSensor>(
-    semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));
+    admittance_->parameters_.ft_sensor.name);
 
   // configure admittance rule
   if (

gps_sensor_broadcaster/src/gps_sensor_broadcaster.cpp

@@ -56,12 +56,16 @@ callback_return_type GPSSensorBroadcaster::on_configure(const rclcpp_lifecycle::
   param_listener_->refresh_dynamic_parameters();
   params_ = param_listener_->get_params();
 
-  gps_sensor_ =
-    params_.read_covariance_from_interface
-      ? GPSSensorVariant{semantic_components::GPSSensor<GPSSensorOption::WithCovariance>(
-          params_.sensor_name)}
-      : GPSSensorVariant{
-          semantic_components::GPSSensor<GPSSensorOption::WithoutCovariance>(params_.sensor_name)};
+  if (params_.read_covariance_from_interface)
+  {
+    gps_sensor_.emplace<semantic_components::GPSSensor<GPSSensorOption::WithCovariance>>(
+      params_.sensor_name);
+  }
+  else
+  {
+    gps_sensor_.emplace<semantic_components::GPSSensor<GPSSensorOption::WithoutCovariance>>(
+      params_.sensor_name);
+  }
   std::visit(
     Visitor{
       [this](auto & sensor) { state_names_ = sensor.get_state_interface_names(); },

imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp

@@ -59,8 +59,7 @@ controller_interface::CallbackReturn IMUSensorBroadcaster::on_configure(
     return CallbackReturn::ERROR;
   }
 
-  imu_sensor_ = std::make_unique<semantic_components::IMUSensor>(
-    semantic_components::IMUSensor(params_.sensor_name));
+  imu_sensor_ = std::make_unique<semantic_components::IMUSensor>(params_.sensor_name);
   try
   {
     // register ft sensor data publisher

range_sensor_broadcaster/src/range_sensor_broadcaster.cpp

@@ -56,8 +56,7 @@ controller_interface::CallbackReturn RangeSensorBroadcaster::on_configure(
     return CallbackReturn::ERROR;
   }
 
-  range_sensor_ = std::make_unique<semantic_components::RangeSensor>(
-    semantic_components::RangeSensor(params_.sensor_name));
+  range_sensor_ = std::make_unique<semantic_components::RangeSensor>(params_.sensor_name);
   try
   {
     // register ft sensor data publisher