From b165a07d6a7a15cd5596a3a8f15ff97cced3f7e5 Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@robossembler.org>
Date: Sun, 1 Dec 2024 16:20:57 +0300
Subject: [PATCH] fix plan.trajectory

---
 rbs_skill_servers/src/mtp_moveit_cart.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rbs_skill_servers/src/mtp_moveit_cart.cpp b/rbs_skill_servers/src/mtp_moveit_cart.cpp
index 535bdc3..111218f 100644
--- a/rbs_skill_servers/src/mtp_moveit_cart.cpp
+++ b/rbs_skill_servers/src/mtp_moveit_cart.cpp
@@ -61,7 +61,7 @@ private:
     rt.getRobotTrajectoryMsg(trajectory);
 
     moveit::planning_interface::MoveGroupInterface::Plan plan;
-    plan.trajectory_ = trajectory;
+    plan.trajectory = trajectory;
 
     if (fraction > 0) {
       RCLCPP_INFO(this->get_logger(), "Planning success");