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Fix motion planner task to support error branching #579

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Jan 12, 2025
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Fix motion planner task to support error branching #579

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6 changes: 4 additions & 2 deletions ..._composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,8 @@ class MotionPlannerTask : public TaskComposerTask

// Make a non-const copy of the input instructions to update the start/end
auto& instructions = input_data_poly.template as<CompositeInstruction>();
assert(!(input_manip_info.empty() && instructions.getManipulatorInfo().empty()));
if (input_manip_info.empty() && instructions.getManipulatorInfo().empty())
throw std::runtime_error("Missing manipulator information");
instructions.setManipulatorInfo(instructions.getManipulatorInfo().getCombined(input_manip_info));

// --------------------
Expand All @@ -193,13 +194,14 @@ class MotionPlannerTask : public TaskComposerTask
if (console_bridge::getLogLevel() == console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_DEBUG)
request.verbose = true;
PlannerResponse response = planner_->solve(request);
setData(*context.data_storage, INOUT_PROGRAM_PORT, response.results);

// --------------------
// Verify Success
// --------------------
if (response)
{
// Should only set on success to support error branching
setData(*context.data_storage, INOUT_PROGRAM_PORT, response.results);
info->return_value = 1;
info->color = "green";
info->status_code = 1;
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