Fixed missing IK solver initialization of KinematicGroupInstructionInfo

tesseract-robotics · Sep 11, 2023 · 566880c · 566880c
1 parent 31dbed5
commit 566880c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/tesseract_motion_planners/simple/src/interpolation.cpp b/tesseract_motion_planners/simple/src/interpolation.cpp
@@ -114,7 +114,7 @@ KinematicGroupInstructionInfo::KinematicGroupInstructionInfo(const MoveInstructi
     throw std::runtime_error("InstructionInfo, working frame is empty!");
 
   // Get Previous Instruction Kinematics
-  manip = request.env->getKinematicGroup(mi.manipulator);
+  manip = request.env->getKinematicGroup(mi.manipulator, mi.manipulator_ik_solver);
 
   // Get Previous Instruction TCP and Working Frame
   working_frame = mi.working_frame;