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consider v4hn's comment
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@ -158,7 +158,7 @@ bool Connect::compute(const InterfaceState &from, const InterfaceState &to) {
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end->getCurrentStateNonConst().setJointGroupPositions(jmg, positions);
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end->getCurrentStateNonConst().setJointGroupPositions(jmg, positions);
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robot_trajectory::RobotTrajectoryPtr trajectory;
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robot_trajectory::RobotTrajectoryPtr trajectory;
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if (!pair.second->plan(start, to.scene(), jmg, timeout, trajectory, path_constraints))
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if (!pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints))
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break;
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break;
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sub_trajectories.push_back(trajectory);
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sub_trajectories.push_back(trajectory);
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