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moveit / moveit_task_constructor

A hierarchical multi-stage manipulation planner
https://moveit.github.io/moveit_task_constructor
BSD 3-Clause "New" or "Revised" License
184 stars 152 forks source link

Correctly handle failures of the pipeline planner #541

Closed rhaschke closed 8 months ago

rhaschke commented 8 months ago

The boolean return value of generatePlan() does not indicate the validity of the plan. Instead, we need to check res.error_code_.

codecov[bot] commented 8 months ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 58.84%. Comparing base (55c4b52) to head (3506f21).

Additional details and impacted files ```diff @@ Coverage Diff @@ ## master #541 +/- ## ========================================== + Coverage 58.83% 58.84% +0.01% ========================================== Files 91 91 Lines 8617 8618 +1 ========================================== + Hits 5069 5070 +1 Misses 3548 3548 ```

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rhaschke commented 8 months ago

In which case does generatePlan need to return a boolean value at all?

generatePlan() always returns a boolean and it actually indicates that planning was solved and returned a valid path. res.error_code_ just provides a more detailed error code. Closing here.