Preserve planner-specific MoveGroup failure codes in /move_action

[eclipse0922]

Summary

Preserve planner-specific non-success MoveItErrorCodes in /move_action plan-only execution instead of always collapsing them to generic FAILURE (99999).

Root cause

planning_pipeline->generatePlan(...) returns false for any non-success planner result. In MoveGroupMoveAction::executeMoveCallbackPlanOnly, that false return currently overwrites res.error_code.val with MoveItErrorCodes::FAILURE even when the planner already set a more specific non-success code such as:

• INVALID_GROUP_NAME (-15)
• NO_IK_SOLUTION (-31)
• other planner-specific request/kinematics failures

That destroys information that downstream action clients need for correct diagnosis and handling.

Change

Only fall back to generic FAILURE when the current code is still SUCCESS or UNDEFINED. If the planner already populated a specific non-success code, preserve it and log that preservation.

Validation

Validated downstream against jazzy / MoveIt 2.12.4 in a live Isaac ROS cuMotion integration harness.

Observed before this patch:

• direct planner path returned specific failure -31
• MoveIt-side planner client received -31
• /move_action still returned generic 99999

Observed after this patch:

• /move_action preserved the original planner-specific failure code (-31)
• repeated requests remained stable
• no stale trajectory reuse
• no success-with-empty-trajectory regressions on the direct planner path

This also matches the user-visible symptom reported in #3667 where invalid group or unreachable goals lose their original error code and appear as generic failure.

Related

Refs #3667

[mergify]

Please target the main branch for development, we will backport the changes to jazzy for you if approved and if they don't break API.

[nbbrooks]

thank you for the contribution!

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (848c062) to head (64c3d6c).

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #3699       +/-   ##
==========================================
- Coverage   46.24%   0.00%   -46.23%     
==========================================
  Files         726      51      -675     
  Lines       59483    5938    -53545     
  Branches     7624    1057     -6567     
==========================================
- Hits        27504       0    -27504     
+ Misses      31813    5938    -25875     
+ Partials      166       0      -166     

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[eclipse0922]

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