Silent "empty quaternion" warning from poseMsgToEigen() (#3435)

moveit_core/planning_scene/src/planning_scene.cpp

@@ -1755,15 +1755,15 @@ bool PlanningScene::shapesAndPosesFromCollisionObjectMessage(const moveit_msgs::
   shapes.reserve(num_shapes);
   shape_poses.reserve(num_shapes);
 
-  PlanningScene::poseMsgToEigen(object.pose, object_pose);
-
   bool switch_object_pose_and_shape_pose = false;
-  if (num_shapes == 1)
-    if (moveit::core::isEmpty(object.pose))
-    {
-      switch_object_pose_and_shape_pose = true;  // If the object pose is not set but the shape pose is,
-                                                 // use the shape's pose as the object pose.
-    }
+  if (num_shapes == 1 && moveit::core::isEmpty(object.pose))
+  {
+    // If the object pose is not set but the shape pose is, use the shape's pose as the object pose.
+    switch_object_pose_and_shape_pose = true;
+    object_pose.setIdentity();
+  }
+  else
+    PlanningScene::poseMsgToEigen(object.pose, object_pose);
 
   auto append = [&object_pose, &shapes, &shape_poses,
                  &switch_object_pose_and_shape_pose](shapes::Shape* s, const geometry_msgs::Pose& pose_msg) {