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https://github.com/moveit/moveit_task_constructor.git
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Restore underscores for public members in MotionPlanResponse
This reverts commit 5c308d1f28
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f760614719
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@ -144,16 +144,16 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(
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state = scene->getCurrentState();
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}
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plan.plan_components.reserve(solution.sub_trajectory.size());
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plan.plan_components_.reserve(solution.sub_trajectory.size());
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for (size_t i = 0; i < solution.sub_trajectory.size(); ++i) {
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const moveit_task_constructor_msgs::msg::SubTrajectory& sub_traj = solution.sub_trajectory[i];
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plan.plan_components.emplace_back();
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plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back();
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plan.plan_components_.emplace_back();
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plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components_.back();
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// define individual variable for use in closure below
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const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());
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exec_traj.description = description;
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exec_traj.description_ = description;
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const moveit::core::JointModelGroup* group = nullptr;
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{
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@ -170,8 +170,8 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(
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RCLCPP_DEBUG(LOGGER, "Using JointModelGroup '%s' for execution", group->getName().c_str());
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}
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}
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exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
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exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
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exec_traj.trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
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exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
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// Check that sub trajectories that contain a valid trajectory have controllers configured.
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if (!sub_traj.trajectory.joint_trajectory.points.empty() && sub_traj.execution_info.controller_names.empty()) {
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@ -180,10 +180,10 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(
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"trajectory execution. This might lead to unexpected controller selection.",
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sub_traj.info.stage_id, solution.task_id.c_str());
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}
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exec_traj.controller_name = sub_traj.execution_info.controller_names;
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exec_traj.controller_names_ = sub_traj.execution_info.controller_names;
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/* TODO add action feedback and markers */
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exec_traj.effect_on_success =
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exec_traj.effect_on_success_ =
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[this, &scene_diff = const_cast<::moveit_msgs::msg::PlanningScene&>(sub_traj.scene_diff), description,
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goal_handle, i, no = solution.sub_trajectory.size()](const plan_execution::ExecutableMotionPlan* /*plan*/) {
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// publish feedback
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