Set planner_id in reponses with OMPL interface (#2724)

This avoids a warning `PlanningPipeline::generatePlan()`. Signed-off-by: Gaël Écorchard <gael@km-robotics.cz> Co-authored-by: Gaël Écorchard <gael@km-robotics.cz>
moveit · Mar 5, 2024 · 57fd700 · 57fd700
1 parent c112941
commit 57fd700
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -771,6 +771,7 @@ void ModelBasedPlanningContext::postSolve()
 
 void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& res)
 {
+  res.planner_id = request_.planner_id;
   res.error_code = solve(request_.allowed_planning_time, request_.num_planning_attempts);
   if (res.error_code.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)
   {
@@ -800,6 +801,7 @@ void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& re
 
 void ModelBasedPlanningContext::solve(planning_interface::MotionPlanDetailedResponse& res)
 {
+  res.planner_id = request_.planner_id;
   moveit_msgs::msg::MoveItErrorCodes moveit_result =
       solve(request_.allowed_planning_time, request_.num_planning_attempts);
   if (moveit_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS)