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PickNikRobotics · Apr 20, 2023 · 4238dc3 · 4238dc3
1 parent 2c74526
commit 4238dc3
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
@@ -83,8 +83,10 @@ class PipelinePlanner : public PlannerInterface
 	                const std::unordered_map<std::string, std::string>& pipeline_id_planner_id_map,
 	                const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>& planning_pipelines =
 	                    std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>(),
-						const moveit::planning_pipeline_interfaces::StoppingCriterionFunction& stopping_criterion_callback = &moveit::planning_pipeline_interfaces::stopAtFirstSolution,
-    const moveit::planning_pipeline_interfaces::SolutionSelectionFunction& solution_selection_function = &moveit::planning_pipeline_interfaces::getShortestSolution);
+					const moveit::planning_pipeline_interfaces::StoppingCriterionFunction& stopping_criterion_callback =
+						&moveit::planning_pipeline_interfaces::stopAtFirstSolution,
+					const moveit::planning_pipeline_interfaces::SolutionSelectionFunction& solution_selection_function =
+						&moveit::planning_pipeline_interfaces::getShortestSolution);
 
 	[[deprecated("Replaced with setPlannerId(pipeline_name, planner_id)")]]  // clang-format off
 	void setPlannerId(const std::string& /*planner*/) { /* Do nothing */

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -101,8 +101,9 @@ bool PipelinePlanner::setPlannerId(const std::string& pipeline_name, const std::
 	if (pipeline_id_planner_id_map_.count(pipeline_name) > 0) {
 		pipeline_id_planner_id_map_[pipeline_name] = planner_id;
 	}
-	RCLCPP_ERROR(node_->get_logger(), "PipelinePlanner does not have a pipeline called '%s'. Cannot set pipeline ID '%s'",
-	            pipeline_name.c_str(), planner_id.c_str());
+	RCLCPP_ERROR(node_->get_logger(),
+	             "PipelinePlanner does not have a pipeline called '%s'. Cannot set pipeline ID '%s'",
+	             pipeline_name.c_str(), planner_id.c_str());
 	return false;
 }