diff --git a/core/src/solvers/joint_interpolation.cpp b/core/src/solvers/joint_interpolation.cpp index 6186b745..d910f91d 100644 --- a/core/src/solvers/joint_interpolation.cpp +++ b/core/src/solvers/joint_interpolation.cpp @@ -139,8 +139,6 @@ MoveItErrorCode JointInterpolationPlanner::plan(const planning_scene::PlanningSc } }; if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) { - // TODO(v4hn): planners need a way to add feedback to failing plans - // in case of an invalid solution feedback should include unwanted collisions or violated constraints RCLCPP_WARN(LOGGER, "IK failed for pose target"); return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target."); }