diff --git a/core/src/task.cpp b/core/src/task.cpp index a3535b4c..24320526 100644 --- a/core/src/task.cpp +++ b/core/src/task.cpp @@ -247,7 +247,7 @@ moveit::core::MoveItErrorCode Task::plan(size_t max_solutions) { while (canCompute() && (max_solutions == 0 || numSolutions() < max_solutions)) { if (impl->preempt_requested_) return success_or(moveit::core::MoveItErrorCode::PREEMPTED); - if (std::chrono::duration(std::chrono::steady_clock::now() - start_time).count() > available_time) + if (std::chrono::duration(std::chrono::steady_clock::now() - start_time).count() >= available_time) return success_or(moveit::core::MoveItErrorCode::TIMED_OUT); compute(); for (const auto& cb : impl->task_cbs_)