From 566880c9b2040e0179bd8bc34709919fb0ce90c7 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rjoomen@yahoo.com>
Date: Mon, 11 Sep 2023 13:45:21 +0200
Subject: [PATCH] Fixed missing IK solver initialization of
 KinematicGroupInstructionInfo

---
 tesseract_motion_planners/simple/src/interpolation.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tesseract_motion_planners/simple/src/interpolation.cpp b/tesseract_motion_planners/simple/src/interpolation.cpp
index 78fcb60c67e..480ca0b57cc 100644
--- 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;