Expose error code in planning_interface::MoveGroup

[adolfo-rt]

I would find it very useful if planning_interface::MoveGroup exposed more detailed information about the result of planning and execution [1], especially when things fail. Currently the only feedback is a not-so-informative boolean, and log statements which can't be used for reasoning in code.

[1] http://docs.ros.org/api/moveit_msgs/html/msg/MoveItErrorCodes.html

[davetcoleman]

Out of curiosity, do you have DEBUG output enabled for all your MoveIt-related ROS nodes? There is some useful stuff in there once you filter out the noise. And I've been working on filtering out the DEBUG output noise lately re: https://github.com/ros/rosconsole_bridge/pull/4

[adolfo-rt]

Debug messages are good for human inspection. The error code can be used by code to take action. Both are important, but serve different purposes.

[ZdenekM]

+1 for this!