diff --git a/core/src/stage.cpp b/core/src/stage.cpp index 3977d72e..962778b6 100644 --- a/core/src/stage.cpp +++ b/core/src/stage.cpp @@ -531,8 +531,6 @@ void MonitoringGenerator::init(const planning_scene::PlanningSceneConstPtr& scen auto impl = pimpl(); if (!impl->monitored_) throw InitStageException(*this, "no monitored stage defined"); - if (impl->monitored_->pimpl()->requiredInterface() != GENERATE) - throw InitStageException(*this, "monitored stage must have generator-style interface"); if (!impl->registered_) { // register only once impl->cb_ = impl->monitored_->addSolutionCallback(std::bind(&MonitoringGenerator::onNewSolution, this, _1)); impl->registered_ = true;