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Removed problematic assertion from default_constraint_samplers.cpp #198
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+1 makes a lot of sense to me |
davetcoleman
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Sep 5, 2014
Removed problematic assertion from default_constraint_samplers.cpp
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When doing a task where moveit is planning repeatedly, this assertion consistently fails for me after a few minutes of running.
Looking at the code, I see that the function it is in, callIK(), already returns a bool indicating success or failure, and callIK() is called from a sampling loop that keeps trying until success. Therefore I don't see a problem with changing the "assert" to "return".