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Changed 'return false' in plan, move and execute such that MoveItErrorCode is returned #1266

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Jul 29, 2022
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Changed 'return false' in plan, move and execute such that MoveItErrorCode is returned #1266

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4 changes: 1 addition & 3 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -794,7 +794,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
if (code != rclcpp_action::ResultCode::SUCCEEDED)
{
RCLCPP_ERROR_STREAM(LOGGER, "MoveGroupInterface::plan() failed or timeout reached");
return false;
return res->error_code;
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}

plan.trajectory_ = res->planned_trajectory;
Expand Down Expand Up @@ -873,7 +873,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
if (code != rclcpp_action::ResultCode::SUCCEEDED)
{
RCLCPP_ERROR_STREAM(LOGGER, "MoveGroupInterface::move() failed or timeout reached");
return false;
}
return res->error_code;
}
Expand Down Expand Up @@ -941,7 +940,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
if (code != rclcpp_action::ResultCode::SUCCEEDED)
{
RCLCPP_ERROR_STREAM(LOGGER, "MoveGroupInterface::execute() failed or timeout reached");
return false;
}
return res->error_code;
}
Expand Down