Set planner_id in reponses with OMPL interface

Gaël Écorchard · Gaël Écorchard · commit 441b54448a30 · 2024-03-04T14:44:48.000+01:00
This avoids a warning `PlanningPipeline::generatePlan()`.

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
@@ -771,6 +771,7 @@ void ModelBasedPlanningContext::postSolve()
 
 void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& res)
 {
+  res.planner_id = request_.planner_id;
   res.error_code = solve(request_.allowed_planning_time, request_.num_planning_attempts);
   if (res.error_code.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
   {
@@ -800,6 +801,7 @@ void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& re
 
 void ModelBasedPlanningContext::solve(planning_interface::MotionPlanDetailedResponse& res)
 {
+  res.planner_id = request_.planner_id;
   moveit_msgs::msg::MoveItErrorCodes moveit_result =
       solve(request_.allowed_planning_time, request_.num_planning_attempts);
   if (moveit_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)

Original file line number	Diff line number	Diff line change
`@@ -771,6 +771,7 @@ void ModelBasedPlanningContext::postSolve()`
`771`	`771`
`772`	`772`	`void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& res)`
`773`	`773`	`{`
	`774`	`+ res.planner_id = request_.planner_id;`
`774`	`775`	`res.error_code = solve(request_.allowed_planning_time, request_.num_planning_attempts);`
`775`	`776`	`if (res.error_code.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)`
`776`	`777`	`{`
`@@ -800,6 +801,7 @@ void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& re`
`800`	`801`
`801`	`802`	`void ModelBasedPlanningContext::solve(planning_interface::MotionPlanDetailedResponse& res)`
`802`	`803`	`{`
	`804`	`+ res.planner_id = request_.planner_id;`
`803`	`805`	`moveit_msgs::msg::MoveItErrorCodes moveit_result =`
`804`	`806`	`solve(request_.allowed_planning_time, request_.num_planning_attempts);`
`805`	`807`	`if (moveit_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)`