Do not overwrite the error code in planWithSinglePipeline

Gaël Écorchard · Gaël Écorchard · commit 6c6644cd560f · 2024-03-04T14:18:34.000+01:00
Return the `MotionPlanResponse` as-is.

Signed-off-by: Gaël Écorchard &lt;gael@km-robotics.cz&gt;
diff --git a/moveit_ros/planning/planning_pipeline_interfaces/src/planning_pipeline_interfaces.cpp b/moveit_ros/planning/planning_pipeline_interfaces/src/planning_pipeline_interfaces.cpp
@@ -38,6 +38,7 @@
 #include <moveit/utils/logger.hpp>
 
 #include <thread>
+#include <tuple>  // std::ignore.
 
 namespace moveit
 {
@@ -63,10 +64,7 @@ planWithSinglePipeline(const ::planning_interface::MotionPlanRequest& motion_pla
     return motion_plan_response;
   }
   const planning_pipeline::PlanningPipelinePtr pipeline = it->second;
-  if (!pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response))
-  {
-    motion_plan_response.error_code = moveit::core::MoveItErrorCode::FAILURE;
-  }
+  std::ignore = pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response);
   return motion_plan_response;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -38,6 +38,7 @@`
`38`	`38`	`#include <moveit/utils/logger.hpp>`
`39`	`39`
`40`	`40`	`#include <thread>`
	`41`	`+#include <tuple> // std::ignore.`
`41`	`42`
`42`	`43`	`namespace moveit`
`43`	`44`	`{`
`@@ -63,10 +64,7 @@ planWithSinglePipeline(const ::planning_interface::MotionPlanRequest& motion_pla`
`63`	`64`	`return motion_plan_response;`
`64`	`65`	`}`
`65`	`66`	`const planning_pipeline::PlanningPipelinePtr pipeline = it->second;`
`66`		`- if (!pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response))`
`67`		`- {`
`68`		`- motion_plan_response.error_code = moveit::core::MoveItErrorCode::FAILURE;`
`69`		`- }`
	`67`	`+ std::ignore = pipeline->generatePlan(planning_scene, motion_plan_request, motion_plan_response);`
`70`	`68`	`return motion_plan_response;`
`71`	`69`	`}`
`72`	`70`