PipelinePlanner: Reject approximate solutions

moveit · Oct 13, 2023 · d05ba1e · d05ba1e
1 parent 5b6287a
commit d05ba1e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -181,7 +181,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
 	::planning_interface::MotionPlanResponse res;
 	bool success = planner_->generatePlan(from, req, res);
 	result = res.trajectory_;
-	return success;
+	return success && res.error_code_.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
 }
 
 bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
@@ -206,7 +206,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
 	::planning_interface::MotionPlanResponse res;
 	bool success = planner_->generatePlan(from, req, res);
 	result = res.trajectory_;
-	return success;
+	return success && res.error_code_.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
 }
 }  // namespace solvers
 }  // namespace task_constructor