Simpler fix to Pilz/LIN segfault

ubi-agni · Jul 19, 2024 · 61afd97 · 61afd97
1 parent 7880add
commit 61afd97
Showing 1 changed file with 2 additions and 7 deletions.
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
@@ -33,6 +33,7 @@
  *********************************************************************/
 
 #include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+#include <pilz_industrial_motion_planner/tip_frame_getter.h>
 
 #include <cassert>
 #include <ros/ros.h>
@@ -74,13 +75,7 @@ void TrajectoryGeneratorLIN::extractMotionPlanInfo(const planning_scene::Plannin
   // goal given in joint space
   if (!req.goal_constraints.front().joint_constraints.empty())
   {
-    auto solver = robot_model_->getJointModelGroup(req.group_name)->getSolverInstance();
-    if (!solver)
-    {
-      ROS_ERROR_STREAM("No IK solver defined for group '" << req.group_name << "'");
-      return;
-    }
-    info.link_name = solver->getTipFrame();
+    info.link_name = getSolverTipFrame(robot_model_->getJointModelGroup(req.group_name));
 
     if (req.goal_constraints.front().joint_constraints.size() !=
         robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size())