From 7dd27434e1c159d52299d55b5fb0bb3ab41a155f Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Thu, 30 Mar 2023 17:12:44 +0200
Subject: [PATCH] Add callbacks

---
 core/src/solvers/pipeline_planner.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
index 9e0c67310..5cf3e3710 100644
--- a/core/src/solvers/pipeline_planner.cpp
+++ b/core/src/solvers/pipeline_planner.cpp
@@ -41,6 +41,8 @@
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
 #include <moveit/planning_pipeline_interfaces/planning_pipeline_interfaces.hpp>
+#include <moveit/planning_pipeline_interfaces/solution_selection_functions.hpp>
+#include <moveit/planning_pipeline_interfaces/stopping_criterion_functions.hpp>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <moveit/kinematic_constraints/utils.h>
 
@@ -246,7 +248,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& planning
 	}
 
 	std::vector<::planning_interface::MotionPlanResponse> responses =
-	    moveit::planning_pipeline_interfaces::planWithParallelPipelines(requests, planning_scene, planning_pipelines_);
+	    moveit::planning_pipeline_interfaces::planWithParallelPipelines(requests, planning_scene, planning_pipelines_, &moveit::planning_pipeline_interfaces::stopAtFirstSolution, &moveit::planning_pipeline_interfaces::getShortestSolution);
 
 	// Just choose first result
 	if (!responses.empty()) {