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Hopefully fix spurious test failure
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@ -247,7 +247,7 @@ moveit::core::MoveItErrorCode Task::plan(size_t max_solutions) {
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while (canCompute() && (max_solutions == 0 || numSolutions() < max_solutions)) {
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while (canCompute() && (max_solutions == 0 || numSolutions() < max_solutions)) {
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if (impl->preempt_requested_)
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if (impl->preempt_requested_)
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return success_or(moveit::core::MoveItErrorCode::PREEMPTED);
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return success_or(moveit::core::MoveItErrorCode::PREEMPTED);
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if (std::chrono::duration<double>(std::chrono::steady_clock::now() - start_time).count() > available_time)
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if (std::chrono::duration<double>(std::chrono::steady_clock::now() - start_time).count() >= available_time)
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return success_or(moveit::core::MoveItErrorCode::TIMED_OUT);
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return success_or(moveit::core::MoveItErrorCode::TIMED_OUT);
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compute();
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compute();
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for (const auto& cb : impl->task_cbs_)
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for (const auto& cb : impl->task_cbs_)
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