From 0ed7cb3e6ea722f23249c4aa86594d344d8206af Mon Sep 17 00:00:00 2001 From: Timon Engelke Date: Mon, 30 Sep 2024 16:12:01 +0200 Subject: [PATCH] Fix timeout calculation if solution callback fails (#73) --- src/pick_ik_plugin.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/pick_ik_plugin.cpp b/src/pick_ik_plugin.cpp index b43d84e..d586092 100644 --- a/src/pick_ik_plugin.cpp +++ b/src/pick_ik_plugin.cpp @@ -303,7 +303,7 @@ class PickIKPlugin : public kinematics::KinematicsBase { done_optimizing = true; } else { robot_.set_random_valid_configuration(init_state); - remaining_timeout -= total_optim_time.count(); + remaining_timeout = timeout - total_optim_time.count(); } }