From 38a48011013e734e85f0700281dda7de2e04abbf Mon Sep 17 00:00:00 2001
From: Captain Yoshi <captain.yoshisaur@gmail.com>
Date: Tue, 16 Jul 2024 12:18:14 -0400
Subject: [PATCH] reset the preempt flag when leaving Task::plan()

---
 core/src/task.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/core/src/task.cpp b/core/src/task.cpp
index 4058fdfc7..cb9b8a803 100644
--- a/core/src/task.cpp
+++ b/core/src/task.cpp
@@ -46,6 +46,8 @@
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_pipeline/planning_pipeline.h>
 
+#include <scope_guard/scope_guard.hpp>
+
 #include <functional>
 
 namespace {
@@ -234,6 +236,9 @@ void Task::compute() {
 }
 
 moveit::core::MoveItErrorCode Task::plan(size_t max_solutions) {
+	// ensure that the preempt flag is resetted once this method is exited
+	auto guard = sg::make_scope_guard([this]() noexcept { this->resetPreemptFlag(); });
+
 	auto impl = pimpl();
 	init();