From d6c3ef28e91cce8eaab93877006521b01355cf29 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Mon, 17 Apr 2023 09:49:51 +0200
Subject: [PATCH] Use no default stopping criteria

---
 .../include/moveit/task_constructor/solvers/pipeline_planner.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
index f52c7db87..6609957ed 100644
--- a/core/include/moveit/task_constructor/solvers/pipeline_planner.h
+++ b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
@@ -83,8 +83,7 @@ class PipelinePlanner : public PlannerInterface
 	                const std::unordered_map<std::string, std::string>& pipeline_id_planner_id_map,
 	                const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>& planning_pipelines =
 	                    std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>(),
-					const moveit::planning_pipeline_interfaces::StoppingCriterionFunction& stopping_criterion_callback =
-						&moveit::planning_pipeline_interfaces::stopAtFirstSolution,
+					const moveit::planning_pipeline_interfaces::StoppingCriterionFunction& stopping_criterion_callback = nullptr,
 					const moveit::planning_pipeline_interfaces::SolutionSelectionFunction& solution_selection_function =
 						&moveit::planning_pipeline_interfaces::getShortestSolution);