From 61afd978498291e5113115766d2505c1172bf651 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 19 Jul 2024 13:40:04 +0200
Subject: [PATCH] Simpler fix to Pilz/LIN segfault

---
 .../src/trajectory_generator_lin.cpp                     | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
index 527ec5029e..4054d669a2 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
@@ -33,6 +33,7 @@
  *********************************************************************/
 
 #include "pilz_industrial_motion_planner/trajectory_generator_lin.h"
+#include <pilz_industrial_motion_planner/tip_frame_getter.h>
 
 #include <cassert>
 #include <ros/ros.h>
@@ -74,13 +75,7 @@ void TrajectoryGeneratorLIN::extractMotionPlanInfo(const planning_scene::Plannin
   // goal given in joint space
   if (!req.goal_constraints.front().joint_constraints.empty())
   {
-    auto solver = robot_model_->getJointModelGroup(req.group_name)->getSolverInstance();
-    if (!solver)
-    {
-      ROS_ERROR_STREAM("No IK solver defined for group '" << req.group_name << "'");
-      return;
-    }
-    info.link_name = solver->getTipFrame();
+    info.link_name = getSolverTipFrame(robot_model_->getJointModelGroup(req.group_name));
 
     if (req.goal_constraints.front().joint_constraints.size() !=
         robot_model_->getJointModelGroup(req.group_name)->getActiveJointModelNames().size())