From 22bebfaacb2f478dcf9936d8109dde4b07644ffd Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Wed, 5 Feb 2020 17:48:20 +0100 Subject: [PATCH] Fix spurious warning message (# IK attempts) (#1876) --- .../kinematics_plugin_loader/src/kinematics_plugin_loader.cpp | 3 ++- 1 file changed, 2 insertions(+), 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 index 57d813ad341..37f9659b22b 100644 --- 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.",