Fix spurious warning message (# IK attempts) (moveit#1876)

v4hn · Mar 30, 2020 · 22bebfa · 22bebfa
1 parent 80ef818
commit 22bebfa
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
@@ -346,7 +346,8 @@ robot_model::SolverAllocatorFn KinematicsPluginLoader::getLoaderFunction(const s
 
           // TODO: Remove in future release (deprecated in PR #1288, Jan-2019, Melodic)
           std::string ksolver_attempts_param_name;
-          if (nh.searchParam(base_param_name + "/kinematics_solver_attempts", ksolver_attempts_param_name))
+          if (nh.searchParam(base_param_name + "/kinematics_solver_attempts", ksolver_attempts_param_name) &&
+              nh.hasParam(ksolver_attempts_param_name))
           {
             ROS_WARN_ONCE_NAMED(LOGNAME, "Kinematics solver doesn't support #attempts anymore, but only a timeout.\n"
                                          "Please remove the parameter '%s' from your configuration.",