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Add distance to servo collision checker requests (moveit#2511)
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sea-bass authored and Erik Holum committed Nov 8, 2023
1 parent c0c6baf commit 1b85576
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5 changes: 5 additions & 0 deletions moveit_ros/moveit_servo/src/collision_monitor.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,11 @@ CollisionMonitor::CollisionMonitor(const planning_scene_monitor::PlanningSceneMo
, planning_scene_monitor_(planning_scene_monitor)
, collision_velocity_scale_(collision_velocity_scale)
{
scene_collision_request_.distance = true;
scene_collision_request_.group_name = servo_params.move_group_name;

self_collision_request_.distance = true;
self_collision_request_.group_name = servo_params.move_group_name;
}

void CollisionMonitor::start()
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