Don't ignore pipeline result

sjahr · sjahr · commit b6f9f78a9a3b · 2023-08-16T09:52:27.000+02:00
diff --git a/moveit_ros/planning/planning_pipeline_interfaces/src/planning_pipeline_interfaces.cpp b/moveit_ros/planning/planning_pipeline_interfaces/src/planning_pipeline_interfaces.cpp
@@ -58,7 +58,9 @@ planWithSinglePipeline(const ::planning_interface::MotionPlanRequest& motion_pla
     return motion_plan_response;
   }
   const planning_pipeline::PlanningPipelinePtr pipeline = it->second;
-  pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response);
+  if(!pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response)){
+    motion_plan_response.error_code = moveit::core::MoveItErrorCode::FAILURE;
+  }
   return motion_plan_response;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -58,7 +58,9 @@ planWithSinglePipeline(const ::planning_interface::MotionPlanRequest& motion_pla`
`58`	`58`	`return motion_plan_response;`
`59`	`59`	`}`
`60`	`60`	`const planning_pipeline::PlanningPipelinePtr pipeline = it->second;`
`61`		`- pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response);`
	`61`	`+ if(!pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response)){`
	`62`	`+ motion_plan_response.error_code = moveit::core::MoveItErrorCode::FAILURE;`
	`63`	`+ }`
`62`	`64`	`return motion_plan_response;`
`63`	`65`	`}`
`64`	`66`