Make mtc execute solution capability apply scene diffs #467
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sjahr
commented
May 23, 2023
| /* RCLCPP_DEBUG_STREAM(LOGGER, "apply effect of " << description); */ | ||
| scene_diff.robot_state.joint_state = sensor_msgs::msg::JointState(); | ||
| scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::msg::MultiDOFJointState(); | ||
| if (!context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff)) |
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…ng trajectory Don't override joint state in planning scene monitor when executing task's solution - Fix: moveit#353 Refactor creating an executable trajectory in a helper lambda Make mtc execute solution capability apply scene diffs before executing trajectory Fix compiler issues Clang-tidy fixes Copy planning scene to modify it
sjahr
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Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## ros2 #467 +/- ##
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Coverage 41.80% 41.80%
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Files 78 78
Lines 7846 7846
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Hits 3279 3279
Misses 4567 4567 ☔ View full report in Codecov by Sentry. |
rhaschke
reviewed
May 26, 2023
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Given my feedback here, I would have expected a much simpler solution, namely removing the corresponding RobotState members. |
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Closed in favor of #498 |
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This PR contains a fix for #353 by @JafarAbdi that we've been using on a fork for quite some time but never got contributed upstream. With his consent, I opened this PR to bring it upstream