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allow execution of empty trajectories #940

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commented Jun 5, 2018

This is useful because the plan_execution allows arbitrary callbacks
to run after successful execution of individual plan_components_.

So although the trajectory might be empty, we miss to run the
associated callbacks if we just skip the component/trajectory altogether.

This mechanism is very convenient for modular plans where some components
only invoke side effects.

@rhaschke

allow execution of empty trajectories
This is useful because the plan_execution allows arbitrary callbacks
to run after successful execution of individual plan_components_.

So although the *trajectory* might be empty we miss to run the
associated callbacks if we just skip the component/trajectory altogether.

This mechanism is very convenient for modular plans where some components
only invoke side effects.

@v4hn v4hn referenced this pull request Jun 5, 2018

Merged

ExecuteTaskSolution capability #54

@rhaschke rhaschke merged commit 926feef into ros-planning:kinetic-devel Jun 5, 2018

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rhaschke added a commit that referenced this pull request Jun 5, 2018

allow execution of empty trajectories (#940)
This is useful because the plan_execution allows arbitrary callbacks
to run after successful execution of individual plan_components_.

So although the *trajectory* might be empty we miss to run the
associated callbacks if we just skip the component/trajectory altogether.

This mechanism is very convenient for modular plans where some components
only invoke side effects.

dg-shadow added a commit to shadow-robot/moveit that referenced this pull request Jul 30, 2018

allow execution of empty trajectories (ros-planning#940)
This is useful because the plan_execution allows arbitrary callbacks
to run after successful execution of individual plan_components_.

So although the *trajectory* might be empty we miss to run the
associated callbacks if we just skip the component/trajectory altogether.

This mechanism is very convenient for modular plans where some components
only invoke side effects.
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