clean & clear code

cyber/service/client.h

@@ -205,12 +205,12 @@ bool Client<Request, Response>::Init() {
   role.set_channel_id(channel_id);
   response_receiver_ = transport->CreateReceiver<Response>(
       role,
-      [=](const std::shared_ptr<Response>& request,
+      [=](const std::shared_ptr<Response>& response,
           const transport::MessageInfo& message_info,
           const proto::RoleAttributes& reader_attr) {
         (void)message_info;
         (void)reader_attr;
-        response_callback_(request, message_info);
+        response_callback_(response, message_info);
       },
       proto::OptionalMode::RTPS);
   if (response_receiver_ == nullptr) {

cyber/service/service.h

@@ -79,15 +79,7 @@ class Service : public ServiceBase {
   Service() = delete;
 
   ~Service() {
-    inited_ = false;
-    {
-      std::lock_guard<std::mutex> lg(queue_mutex_);
-      tasks_.clear();
-    }
-    condition_.notify_all();
-    if (thread_.joinable()) {
-      thread_.join();
-    }
+    destroy();
   }
 
   /**