Cleanup + address deprecation warnings

Author: sjahr

core/src/solvers/pipeline_planner.cpp

@@ -49,10 +49,6 @@
 #include <tf2_eigen/tf2_eigen.h>
 #endif
 
-namespace {
-const std::pair<std::string, std::string> DEFAULT_REQUESTED_PIPELINE =
-    std::pair<std::string, std::string>("ompl", "RRTConnect");
-}
 namespace moveit {
 namespace task_constructor {
 namespace solvers {

core/test/pick_pa10.cpp

@@ -47,8 +47,7 @@ TEST(PA10, pick) {
 	t.setProperty("eef", std::string("la_tool_mount"));
 	t.setProperty("gripper", std::string("left_hand"));
 
-	auto pipeline = std::make_shared<solvers::PipelinePlanner>(node);
-	pipeline->setPlannerId("RRTConnectkConfigDefault");
+	auto pipeline = std::make_shared<solvers::PipelinePlanner>(node, "ompl", "RRTConnectkConfigDefault");
 	auto cartesian = std::make_shared<solvers::CartesianPath>();
 
 	Stage* initial_stage = nullptr;

core/test/pick_pr2.cpp

@@ -40,8 +40,7 @@ TEST(PR2, pick) {
 
 	auto node = rclcpp::Node::make_shared("pr2");
 	// planner used for connect
-	auto pipeline = std::make_shared<solvers::PipelinePlanner>(node);
-	pipeline->setPlannerId("RRTConnectkConfigDefault");
+	auto pipeline = std::make_shared<solvers::PipelinePlanner>(node, "ompl", "RRTConnectkConfigDefault");
 	// connect to pick
 	stages::Connect::GroupPlannerVector planners = { { "left_arm", pipeline }, { "left_gripper", pipeline } };
 	auto connect = std::make_unique<stages::Connect>("connect", planners);

core/test/pick_ur5.cpp

@@ -42,8 +42,7 @@ TEST(UR5, pick) {
 
 	auto node = rclcpp::Node::make_shared("ur5");
 	// planner used for connect
-	auto pipeline = std::make_shared<solvers::PipelinePlanner>(node);
-	pipeline->setPlannerId("RRTConnectkConfigDefault");
+	auto pipeline = std::make_shared<solvers::PipelinePlanner>(node, "ompl", "RRTConnectkConfigDefault");
 	// connect to pick
 	stages::Connect::GroupPlannerVector planners = { { "arm", pipeline }, { "gripper", pipeline } };
 	auto connect = std::make_unique<stages::Connect>("connect", planners);