Use trajectory execution info from parent only if controller list is …

…empty Remove underscore from public members Remove unnecessary string msg include
moveit · Oct 20, 2023 · 408b933 · 408b933
1 parent dafd416
commit 408b933
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -168,9 +168,9 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 				RCLCPP_DEBUG(LOGGER, "Using JointModelGroup '%s' for execution", group->getName().c_str());
 			}
 		}
-		exec_traj.trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
-		exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
-		exec_traj.controller_names_ = sub_traj.execution_info.controller_names;
+		exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
+		exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
+		exec_traj.controller_name = sub_traj.execution_info.controller_names;
 
 		/* TODO add action feedback and markers */
 		exec_traj.effect_on_success = [this, sub_traj,

diff --git a/core/include/moveit/task_constructor/trajectory_execution_info.h b/core/include/moveit/task_constructor/trajectory_execution_info.h
@@ -39,7 +39,6 @@
 #pragma once
 
 #include <moveit_task_constructor_msgs/msg/trajectory_execution_info.hpp>
-#include <std_msgs/msg/string.hpp>
 #include <string>
 #include <vector>
 

diff --git a/core/src/container.cpp b/core/src/container.cpp
@@ -365,7 +365,9 @@ void ContainerBase::insert(Stage::pointer&& stage, int before) {
 	if (!stage)
 		throw std::runtime_error(name() + ": received invalid stage pointer");
 
-	stage->setTrajectoryExecutionInfo(this->trajectoryExecutionInfo());
+	if (stage->trajectoryExecutionInfo().controller_names.empty()) {
+		stage->setTrajectoryExecutionInfo(this->trajectoryExecutionInfo());
+	}
 
 	StagePrivate* impl = stage->pimpl();
 	impl->setParent(this);