Do not overwrite the error code with OMPL interface

Gaël Écorchard · Gaël Écorchard · commit 2ee7ac497fbc · 2024-03-04T14:50:18.000+01:00
In case of failure, set the error code to the one returned by the
planning pipeline's `solve` method rather than overwriting it with
`PLANNING_FAILED`.

Signed-off-by: Gaël Écorchard &lt;gael@km-robotics.cz&gt;
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -805,7 +805,7 @@ void ModelBasedPlanningContext::solve(planning_interface::MotionPlanDetailedResp
   if (moveit_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
   {
     RCLCPP_INFO(getLogger(), "Unable to solve the planning problem");
-    res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;
+    res.error_code = moveit_result;
     return;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -805,7 +805,7 @@ void ModelBasedPlanningContext::solve(planning_interface::MotionPlanDetailedResp`
`805`	`805`	`if (moveit_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)`
`806`	`806`	`{`
`807`	`807`	`RCLCPP_INFO(getLogger(), "Unable to solve the planning problem");`
`808`		`- res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;`
	`808`	`+ res.error_code = moveit_result;`
`809`	`809`	`return;`
`810`	`810`	`}`
`811`	`811`