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Update planning request input to leverage AnyPoly #230

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Nov 8, 2023
Merged

Update planning request input to leverage AnyPoly #230

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2 changes: 1 addition & 1 deletion tesseract_msgs/msg/PlanningRequest.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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5 changes: 2 additions & 3 deletions tesseract_planning_server/src/tesseract_planning_server.cpp
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Expand Up @@ -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>
Expand Down Expand Up @@ -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)
{
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