Update core/src/solvers/pipeline_planner.cpp

sjahr · web-flow · commit 48d97b1de956 · 2024-03-25T10:55:42.000+01:00
diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -220,8 +220,8 @@ MoveItErrorCode PipelinePlanner::plan(const planning_scene::PlanningSceneConstPt
 			// Choose the first solution trajectory as response
 			result = solution.trajectory;
 			last_successful_planner_ = solution.planner_id;
-			return MoveItErrorCode(solution.error_code.val, solution.error_code.message, solution.error_code.source);
 		}
+		return MoveItErrorCode(solution.error_code.val, solution.error_code.message, solution.error_code.source);		
 	}
 	return MoveItErrorCode(MoveItErrorCodes::FAILURE, "No solutions generated from Pipeline Planner");
 }

Original file line number	Diff line number	Diff line change
`@@ -220,8 +220,8 @@ MoveItErrorCode PipelinePlanner::plan(const planning_scene::PlanningSceneConstPt`
`220`	`220`	`// Choose the first solution trajectory as response`
`221`	`221`	`result = solution.trajectory;`
`222`	`222`	`last_successful_planner_ = solution.planner_id;`
`223`		`- return MoveItErrorCode(solution.error_code.val, solution.error_code.message, solution.error_code.source);`
`224`	`223`	`}`
	`224`	`+ return MoveItErrorCode(solution.error_code.val, solution.error_code.message, solution.error_code.source);`
`225`	`225`	`}`
`226`	`226`	`return MoveItErrorCode(MoveItErrorCodes::FAILURE, "No solutions generated from Pipeline Planner");`
`227`	`227`	`}`