Use no default stopping criteria

PickNikRobotics · Apr 20, 2023 · 8e2c560 · 8e2c560
1 parent d095f7f
commit 8e2c560
Showing 1 changed file with 1 addition and 2 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 +83,7 @@ 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::StoppingCriterionFunction& stopping_criterion_callback = nullptr,
 					const moveit::planning_pipeline_interfaces::SolutionSelectionFunction& solution_selection_function =
 						&moveit::planning_pipeline_interfaces::getShortestSolution);