Add planner info to comments (#523)

moveit · Jan 16, 2024 · 57e8490 · 57e8490
1 parent 32604ad
commit 57e8490
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/core/src/storage.cpp b/core/src/storage.cpp
@@ -214,7 +214,13 @@ void SolutionBase::toMsg(moveit_task_constructor_msgs::msg::Solution& msg, Intro
 void SolutionBase::fillInfo(moveit_task_constructor_msgs::msg::SolutionInfo& info, Introspection* introspection) const {
 	info.id = introspection ? introspection->solutionId(*this) : 0;
 	info.cost = this->cost();
-	info.comment = this->comment();
+	if (!this->plannerId().empty() && !this->comment().empty()) {
+		info.comment = this->plannerId() + " : " + this->comment();
+	} else if (!this->plannerId().empty() && this->comment().empty()) {
+		info.comment = "Solution generated by " + this->plannerId();
+	} else {
+		info.comment = this->comment();
+	}
 	info.planner_id = this->plannerId();
 	const Introspection* ci = introspection;
 	info.stage_id = ci ? ci->stageId(this->creator()) : 0;