From 98cf3ed11b9d2bd7da8522d0def5460d7ea4124f Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Thu, 2 Sep 2021 13:31:28 +0200
Subject: [PATCH] PS: Warn when user tried to remove a nonexistent object

---
 moveit_core/planning_scene/src/planning_scene.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 208c9a7cef..740d018478 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1827,7 +1827,11 @@ bool PlanningScene::processCollisionObjectRemove(const moveit_msgs::CollisionObj
   else
   {
     if (!world_->removeObject(object.id))
+    {
+      ROS_WARN_STREAM_NAMED(LOGNAME,
+                            "Tried to remove world object '" << object.id << "', but it does not exist in this scene.");
       return false;
+    }
 
     removeObjectColor(object.id);
     removeObjectType(object.id);