Make sure that pipeline does not abort if no request adapter is confi…

…gured
moveit · Oct 23, 2023 · ca23615 · ca23615
1 parent 9a58b30
commit ca23615
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Showing 3 changed files with 2 additions and 1 deletion.
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request_adapter.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request_adapter.h
@@ -40,7 +40,6 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/planning_interface/planning_interface.h>
-#include <functional>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
 

diff --git a/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h b/moveit_ros/planning/planning_pipeline/include/moveit/planning_pipeline/planning_pipeline.h
@@ -132,6 +132,7 @@ void loadPluginVector(const std::shared_ptr<rclcpp::Node>& node,
 };
 
 }  // namespace
+
 /** \brief This class facilitates loading planning plugins and planning adapter plugins. It implements functionality to
  * use the loaded plugins in a motion planning pipeline consisting of PlanningRequestAdapters (Pre-processing), a
  * Planner plugin and PlanningResponseAdapters (Post-processing).*/

diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
@@ -219,6 +219,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
     }
     else
     {
+      solved = true;
       RCLCPP_INFO(LOGGER, "No PlanningRequestAdapters to apply pipeline '%s'.", parameter_namespace_.c_str());
     }
-Original file line number
+Diff line change
@@ Expand Up @@
         }
         else
         {
+          solved = true;
           RCLCPP_INFO(LOGGER, "No PlanningRequestAdapters to apply pipeline '%s'.", parameter_namespace_.c_str());
         }
@@ Expand Down @@