From 5a2607e35805b2ae426255b3abb36cb026dc7cc8 Mon Sep 17 00:00:00 2001 From: Abishalini Date: Wed, 24 Jan 2024 10:20:46 -0700 Subject: [PATCH] Remove TODO --- core/src/solvers/joint_interpolation.cpp | 2 -- 1 file changed, 2 deletions(-) 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."); }