Fix moveit#2811 (moveit#2872)

This is a PR for moveit#2811
isys-vision · Sep 14, 2021 · a560783 · a560783
1 parent a55b642
commit a560783
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp
@@ -129,7 +129,7 @@ bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler(const
                     verbose);
       constraint_sampler_->setGroupStateValidityCallback(gsvcf);
 
-      if (constraint_sampler_->project(work_state_, planning_context_->getMaximumStateSamplingAttempts()))
+      if (constraint_sampler_->sample(work_state_, planning_context_->getMaximumStateSamplingAttempts()))
       {
         work_state_.update();
         if (kinematic_constraint_set_->decide(work_state_, verbose).satisfied)