From 5b6330aa50172f58affa0a38b214f28fafd13951 Mon Sep 17 00:00:00 2001
From: Shobuj Paul <shobuj.paul@gmail.com>
Date: Mon, 30 Oct 2023 19:30:26 +0530
Subject: [PATCH] made changes as per comments

---
 .../include/moveit/ompl_interface/ompl_interface.h       | 1 -
 .../ompl/ompl_interface/src/ompl_interface.cpp           | 9 ++-------
 .../ompl/ompl_interface/src/planning_context_manager.cpp | 2 +-
 3 files changed, 3 insertions(+), 9 deletions(-)

diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
index 6f3d0de59f1..de76b3bf8e1 100644
--- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
+++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
@@ -42,7 +42,6 @@
 #include <moveit/planning_interface/planning_interface.h>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <moveit_msgs/msg/motion_plan_response.hpp>
-#include <rclcpp/node.hpp>
 #include <string>
 #include <map>
 #include <rclcpp/rclcpp.hpp>
diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
index e9865193ee6..c03787dfa60 100644
--- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp
@@ -93,13 +93,8 @@ OMPLInterface::~OMPLInterface() = default;
 void OMPLInterface::storePlannerData(const std::shared_ptr<std_srvs::srv::Trigger::Request>& /* unused */,
                                      const std::shared_ptr<std_srvs::srv::Trigger::Response>& response)
 {
-  bool success = context_manager_.storePlannerData();
-  response->success = success;
-  if (success)
-  {
-    RCLCPP_INFO(LOGGER, "Stored motion planner data");
-  }
-  else
+  response->success = context_manager_.storePlannerData();
+  if (!response->success)
   {
     RCLCPP_ERROR(LOGGER, "Motion planning graph is empty");
   }
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
index b5b11fc640b..e524922d690 100644
--- a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
+++ b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -98,7 +98,7 @@ bool MultiQueryPlannerAllocator::storePlannerData()
     planners_[entry.first]->getPlannerData(data);
     if (data.numVertices() == 0)
     {
-      RCLCPP_DEBUG_STREAM(LOGGER, "Could not fetch space information or space information is empty.");
+      RCLCPP_ERROR_STREAM(LOGGER, "Could not fetch space information or space information is empty.");
       return false;
     }
     RCLCPP_INFO_STREAM(LOGGER, "Storing planner data. NumEdges: " << data.numEdges()