remove underscore from public members in MotionPlanResponse (moveit#426)

Required to align with changes introduced by moveit/moveit2#1939

Co-authored-by: JafarAbdi <[email protected]>

Author: peterdavidfagan

capabilities/src/execute_task_solution_capability.cpp

@@ -99,7 +99,7 @@ void ExecuteTaskSolutionCapability::initialize() {
 }
 
 void ExecuteTaskSolutionCapability::goalCallback(
-    const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>> goal_handle) {
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle) {
 	auto result = std::make_shared<moveit_task_constructor_msgs::action::ExecuteTaskSolution::Result>();
 
 	const auto& goal = goal_handle->get_goal();
@@ -126,7 +126,7 @@ void ExecuteTaskSolutionCapability::goalCallback(
 }
 
 rclcpp_action::CancelResponse ExecuteTaskSolutionCapability::preemptCallback(
-    const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>> /*goal_handle*/) {
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& /*goal_handle*/) {
 	if (context_->plan_execution_)
 		context_->plan_execution_->stop();
 	return rclcpp_action::CancelResponse::ACCEPT;
@@ -142,16 +142,16 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		state = scene->getCurrentState();
 	}
 
-	plan.plan_components_.reserve(solution.sub_trajectory.size());
+	plan.plan_components.reserve(solution.sub_trajectory.size());
 	for (size_t i = 0; i < solution.sub_trajectory.size(); ++i) {
 		const moveit_task_constructor_msgs::msg::SubTrajectory& sub_traj = solution.sub_trajectory[i];
 
-		plan.plan_components_.emplace_back();
-		plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components_.back();
+		plan.plan_components.emplace_back();
+		plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back();
 
 		// define individual variable for use in closure below
 		const std::string description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());
-		exec_traj.description_ = description;
+		exec_traj.description = description;
 
 		const moveit::core::JointModelGroup* group = nullptr;
 		{
@@ -168,12 +168,12 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 				RCLCPP_DEBUG(LOGGER, "Using JointModelGroup '%s' for execution", group->getName().c_str());
 			}
 		}
-		exec_traj.trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
-		exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
+		exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
+		exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
 
 		/* TODO add action feedback and markers */
-		exec_traj.effect_on_success_ = [this, sub_traj,
-		                                description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
+		exec_traj.effect_on_success = [this, sub_traj,
+		                               description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
 			if (!moveit::core::isEmpty(sub_traj.scene_diff)) {
 				RCLCPP_DEBUG_STREAM(LOGGER, "apply effect of " << description);
 				return context_->planning_scene_monitor_->newPlanningSceneMessage(sub_traj.scene_diff);

capabilities/src/execute_task_solution_capability.h

@@ -63,14 +63,14 @@ class ExecuteTaskSolutionCapability : public MoveGroupCapability
 	bool constructMotionPlan(const moveit_task_constructor_msgs::msg::Solution& solution,
 	                         plan_execution::ExecutableMotionPlan& plan);
 
-	void goalCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>> goal_handle);
+	void goalCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);
 
 	rclcpp_action::CancelResponse
-	preemptCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>> goal_handle);
+	preemptCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);
 
 	/** Always accept the goal */
 	rclcpp_action::GoalResponse handleNewGoal(const rclcpp_action::GoalUUID& /*uuid*/,
-	                                          const ExecuteTaskSolutionAction::Goal::ConstSharedPtr /*goal*/) const {
+	                                          const ExecuteTaskSolutionAction::Goal::ConstSharedPtr& /*goal*/) const {
 		return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
 	}
 

core/src/solvers/pipeline_planner.cpp

@@ -180,7 +180,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
 
 	::planning_interface::MotionPlanResponse res;
 	bool success = planner_->generatePlan(from, req, res);
-	result = res.trajectory_;
+	result = res.trajectory;
 	return success;
 }
 
@@ -205,7 +205,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
 
 	::planning_interface::MotionPlanResponse res;
 	bool success = planner_->generatePlan(from, req, res);
-	result = res.trajectory_;
+	result = res.trajectory;
 	return success;
 }
 }  // namespace solvers