Do not overwrite the error code in planWithSinglePipeline

[galou]

Return the MotionPlanResponse as-is, also in case of error.

Description

The error code was forced-set to FAILURE in case of error, preventing the caller to get the correct information in case of error.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[galou]

Should I write a note about this change in MIGRATION.md?

[sjahr]

I think it might be possible that generatePlan returns false without properly setting the error_code. What do you think about only overwritting the error code if it is SUCCESS or UNDEFINED? That way nothing is overwritten + we're not ignoring an error

[galou]

I did the changes to consider the case the generatePlan() return false but do not set the error code

This appears to me to be an API design issue since the failure-or-success piece of information must be set at two places.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 42.99%. Comparing base (d962501) to head (92ae93e).
Report is 15 commits behind head on main.

Files	Patch %	Lines
...ne_interfaces/src/planning_pipeline_interfaces.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2723      +/-   ##
==========================================
- Coverage   50.74%   42.99%   -7.75%     
==========================================
  Files         392      692     +300     
  Lines       32553    56325   +23772     
  Branches        0     7273    +7273     
==========================================
+ Hits        16517    24211    +7694     
- Misses      16036    31951   +15915     
- Partials        0      163     +163     

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[sjahr]

I did the changes to consider the case the generatePlan() return false but do not set the error code

This appears to me to be an API design issue since the failure-or-success piece of information must be set at two places.

Thank you! You're right, maybe this could be updated to return the response in the future to avoid duplicate error codes