From 66e081a129ec852e7001db5b1ee6a65cee9166b6 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rjoomen@yahoo.com>
Date: Tue, 28 Nov 2023 21:59:16 +0100
Subject: [PATCH] Restore previous verbosity behaviour

---
 .../trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp         | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp b/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
index 911bc869c1..5acb20cf9a 100644
--- a/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
+++ b/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
@@ -129,6 +129,9 @@ PlannerResponse TrajOptIfoptMotionPlanner::solve(const PlannerRequest& request)
   problem->qp_solver = std::make_shared<trajopt_sqp::OSQPEigenSolver>();
   OSQPEigenSolver_setSettings(dynamic_cast<trajopt_sqp::OSQPEigenSolver&>(*problem->qp_solver).solver_,
                               problem->convex_solver_settings);
+  dynamic_cast<trajopt_sqp::OSQPEigenSolver&>(*problem->qp_solver)
+      .solver_.settings()
+      ->setVerbosity((problem->convex_solver_settings.verbose != 0) || request.verbose);
 
   trajopt_sqp::TrustRegionSQPSolver solver(problem->qp_solver);
   solver.params = problem->opt_info;