From 7d0f9f061404cdee5889371f95b7d22ef3fe5f8e Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Mon, 20 Jun 2022 12:15:32 -0400
Subject: [PATCH] [MSA] Fix SRDF Initialization Bug / Copy Paste Error

---
 .../moveit_setup_framework/src/double_list_widget.cpp          | 3 ++-
 .../moveit_setup_srdf_plugins/src/planning_groups_widget.cpp   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/moveit_setup_assistant/moveit_setup_framework/src/double_list_widget.cpp b/moveit_setup_assistant/moveit_setup_framework/src/double_list_widget.cpp
index 927f1bdafd..2288090be0 100644
--- a/moveit_setup_assistant/moveit_setup_framework/src/double_list_widget.cpp
+++ b/moveit_setup_assistant/moveit_setup_framework/src/double_list_widget.cpp
@@ -336,7 +336,8 @@ void DoubleListWidget::previewSelected(const QList<QTableWidgetItem*>& selected)
 
 std::vector<std::string> DoubleListWidget::getSelectedValues() const
 {
-  std::vector<std::string> values(selected_data_table_->rowCount());
+  std::vector<std::string> values;
+  values.reserve(selected_data_table_->rowCount());
   for (int i = 0; i < selected_data_table_->rowCount(); ++i)
   {
     values.push_back(selected_data_table_->item(i, 0)->text().toStdString());
diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/src/planning_groups_widget.cpp b/moveit_setup_assistant/moveit_setup_srdf_plugins/src/planning_groups_widget.cpp
index e55f171308..e225435b79 100644
--- a/moveit_setup_assistant/moveit_setup_srdf_plugins/src/planning_groups_widget.cpp
+++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/src/planning_groups_widget.cpp
@@ -702,7 +702,7 @@ void PlanningGroupsWidget::saveJointsScreen()
 // ******************************************************************************************
 void PlanningGroupsWidget::saveLinksScreen()
 {
-  setup_step_.setJoints(current_edit_group_, links_widget_->getSelectedValues());
+  setup_step_.setLinks(current_edit_group_, links_widget_->getSelectedValues());
 
   // Switch to main screen
   showMainScreen();