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Remove TODO
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@ -139,8 +139,6 @@ MoveItErrorCode JointInterpolationPlanner::plan(const planning_scene::PlanningSc
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} };
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if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) {
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// TODO(v4hn): planners need a way to add feedback to failing plans
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// in case of an invalid solution feedback should include unwanted collisions or violated constraints
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RCLCPP_WARN(LOGGER, "IK failed for pose target");
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return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target.");
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}
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