Use trajectory execution info from parent only if controller list is …

…empty
moveit · Oct 18, 2023 · 883b49a · 883b49a
1 parent 65f264e
commit 883b49a
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/core/src/container.cpp b/core/src/container.cpp
@@ -283,7 +283,9 @@ void ContainerBase::insert(Stage::pointer&& stage, int before) {
 	if (!stage)
 		throw std::runtime_error(name() + ": received invalid stage pointer");
 
-	stage->setTrajectoryExecutionInfo(this->trajectoryExecutionInfo());
+	if (stage->trajectoryExecutionInfo().controller_names.empty()) {
+		stage->setTrajectoryExecutionInfo(this->trajectoryExecutionInfo());
+	}
 
 	StagePrivate* impl = stage->pimpl();
 	impl->setParent(this);