Remove TODO

This commit is contained in:
Abishalini 2024-01-24 10:20:46 -07:00
parent 0d7b86e218
commit 5a2607e358

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@ -139,8 +139,6 @@ MoveItErrorCode JointInterpolationPlanner::plan(const planning_scene::PlanningSc
} }; } };
if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) { 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"); RCLCPP_WARN(LOGGER, "IK failed for pose target");
return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target."); return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target.");
} }