Previously, the logic to get a trajectory from the response to a planning service call was handled in the plan function. As a result, people who opt for plan_async instead would need to re-implement that logic. This PR breaks that logic off into its own function, so even people who directly call plan_async can get the trajectory.
Previously, the logic to get a trajectory from the response to a planning service call was handled in the
planfunction. As a result, people who opt forplan_asyncinstead would need to re-implement that logic. This PR breaks that logic off into its own function, so even people who directly callplan_asynccan get the trajectory.