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MoveIt Planning Scene publishing broken #150

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wxmerkt opened this issue Oct 16, 2017 · 2 comments
Closed

MoveIt Planning Scene publishing broken #150

wxmerkt opened this issue Oct 16, 2017 · 2 comments

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@wxmerkt
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wxmerkt commented Oct 16, 2017

#125 also broke the planning scene publishing as the MoveIt planning scene is no longer maintained. We need a way to recreate a MoveIt PlanningScene message from the internal collision scenes.
wxmerkt added a commit that referenced this issue Oct 16, 2017
@wxmerkt
Scene: Add way to update MoveIt PlanningScene to fix scene publishing
5281dc4 
- Broken in #125
- Adds method that updates the model state from Kinematica just before publishing
- Does not handle attached objects (addObject/attachObject/detachObject)
- Addresses #150
@wxmerkt wxmerkt mentioned this issue Oct 16, 2017
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@wxmerkt
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wxmerkt commented Oct 16, 2017

I added a Pull Request (#154) to fix this issue. The fix in #154 does not extend to attached objects or objects that are added from initializers as these are not captured in the MoveIt PlanningScene. It works otherwise and brings Exotica back into the state before the big CollisionScene re-shuffle.

@wxmerkt
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wxmerkt commented Oct 17, 2017

Closing - most of the functionality has been restored in #154. Attached collision objects or objects that are newly added to the scene are not handled but this can be added as required at a later stage.

@wxmerkt wxmerkt closed this as completed Oct 17, 2017
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