From a1c66fbb706d5964e99c96bbbdb6a672c1317144 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20=C3=89corchard?= Date: Mon, 22 Jun 2026 14:43:22 +0200 Subject: [PATCH] Add a value to the error_code in `getPlanningContext` MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Set `INVALID_MOTION_PLAN` if no context loader is found for the requested planner_id before returning. Signed-off-by: Gaël Écorchard --- .../src/pilz_industrial_motion_planner.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp b/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp index c3c3e83034..b761540b7b 100644 --- a/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp +++ b/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp @@ -142,6 +142,7 @@ CommandPlanner::getPlanningContext(const planning_scene::PlanningSceneConstPtr& { RCLCPP_ERROR_STREAM(getLogger(), "No ContextLoader for planner_id '" << req.planner_id.c_str() << "' found. Planning not possible."); + error_code.val = moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN; return nullptr; }