From 472a230dd38a6e0c9e433096afbd2005a1314b4e Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rj.oomen@isohorti.com>
Date: Wed, 8 Nov 2023 08:17:58 +0100
Subject: [PATCH] Update planning request input to leverage AnyPoly

---
 .../include/tesseract_monitoring/constants.h                | 2 ++
 tesseract_msgs/msg/PlanningRequest.msg                      | 2 +-
 tesseract_planning_server/src/tesseract_planning_server.cpp | 6 ++----
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/tesseract_monitoring/include/tesseract_monitoring/constants.h b/tesseract_monitoring/include/tesseract_monitoring/constants.h
index 9ca4570b..c3baec81 100644
--- a/tesseract_monitoring/include/tesseract_monitoring/constants.h
+++ b/tesseract_monitoring/include/tesseract_monitoring/constants.h
@@ -25,6 +25,8 @@
 #ifndef TESSERACT_MONITORING_CONSTANTS_H
 #define TESSERACT_MONITORING_CONSTANTS_H
 
+#include <string>
+
 namespace tesseract_monitoring
 {
 /// The name of the topic used by default for receiving joint states
diff --git a/tesseract_msgs/msg/PlanningRequest.msg b/tesseract_msgs/msg/PlanningRequest.msg
index ea744fc3..c1dcb2f3 100644
--- a/tesseract_msgs/msg/PlanningRequest.msg
+++ b/tesseract_msgs/msg/PlanningRequest.msg
@@ -3,7 +3,7 @@ tesseract_msgs/EnvironmentCommand[] commands # Additional Commands to be applied
 
 string name # The name of the taskflow to use
 string executor # The executor to leverage, if empty default one is used.
-string instructions # This should an xml string of the command language instructions
+string input # This should be an xml string of tesseract_common::AnyPoly
 bool dotgraph # Enable if DOT Graph should be generated and returned
 bool debug # Enable debug content
 bool save_io # Enable saving of input and output for task infos
diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
index d55faf77..3ffa7f18 100644
--- a/tesseract_planning_server/src/tesseract_planning_server.cpp
+++ b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -56,7 +56,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/planning/planning_task_composer_problem.h>
 
-#include <tesseract_command_language/poly/instruction_poly.h>
+#include <tesseract_common/any_poly.h>
 
 #include <tesseract_monitoring/environment_monitor.h>
 #include <tesseract_rosutils/utils.h>
@@ -67,7 +67,6 @@ using tesseract_common::Serialization;
 using tesseract_planning::InstructionPoly;
 using tesseract_planning::PlanningTaskComposerProblem;
 using tesseract_planning::TaskComposerDataStorage;
-using tesseract_rosutils::processMsg;
 
 static const std::string TRAJOPT_DEFAULT_NAMESPACE = "TrajOptMotionPlannerTask";
 static const std::string TRAJOPT_IFOPT_DEFAULT_NAMESPACE = "TrajOptIfoptMotionPlannerTask";
@@ -206,8 +205,7 @@ void TesseractPlanningServer::onMotionPlanningCallback(
   auto problem = std::make_unique<tesseract_planning::PlanningTaskComposerProblem>(goal->request.name);
   try
   {
-    problem->input_instruction =
-        Serialization::fromArchiveStringXML<tesseract_planning::InstructionPoly>(goal->request.instructions);
+    problem->input = Serialization::fromArchiveStringXML<tesseract_common::AnyPoly>(goal->request.input);
   }
   catch (const std::exception& e)
   {