From 60dbe9b986f7fbc7c152ad240089f8307a0c0f19 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 7 Nov 2023 11:28:51 -0600
Subject: [PATCH] Update planning request input to leverage AnyPoly

---
 tesseract_msgs/msg/PlanningRequest.msg                      | 2 +-
 tesseract_planning_server/src/tesseract_planning_server.cpp | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/tesseract_msgs/msg/PlanningRequest.msg b/tesseract_msgs/msg/PlanningRequest.msg
index ea744fc3..1a879f73 100644
--- a/tesseract_msgs/msg/PlanningRequest.msg
+++ b/tesseract_msgs/msg/PlanningRequest.msg
@@ -3,7 +3,7 @@ tesseract_msgs/EnvironmentCommand[] commands # Additional Commands to be applied
 
 string name # The name of the taskflow to use
 string executor # The executor to leverage, if empty default one is used.
-string instructions # This should an xml string of the command language instructions
+string input # This should an xml string of tesseract_common::AnyPoly
 bool dotgraph # Enable if DOT Graph should be generated and returned
 bool debug # Enable debug content
 bool save_io # Enable saving of input and output for task infos
diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
index 0647bc3c..8be0aa01 100644
--- a/tesseract_planning_server/src/tesseract_planning_server.cpp
+++ b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -59,7 +59,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
 #include <tesseract_motion_planners/simple/profile/simple_planner_lvs_no_ik_plan_profile.h>
 
-#include <tesseract_command_language/poly/instruction_poly.h>
+#include <tesseract_common/any_poly.h>
 
 #include <tesseract_monitoring/environment_monitor.h>
 #include <tesseract_rosutils/utils.h>
@@ -186,8 +186,7 @@ void TesseractPlanningServer::onMotionPlanningCallback(const tesseract_msgs::Get
   auto problem = std::make_unique<tesseract_planning::PlanningTaskComposerProblem>(goal->request.name);
   try
   {
-    problem->input_instruction =
-        Serialization::fromArchiveStringXML<tesseract_planning::InstructionPoly>(goal->request.instructions);
+    problem->input = Serialization::fromArchiveStringXML<tesseract_common::AnyPoly>(goal->request.input);
   }
   catch (const std::exception& e)
   {