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Detaching attached collision object bugfix #1438

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merged 1 commit into from May 3, 2019
Merged

Detaching attached collision object bugfix #1438

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4 changes: 2 additions & 2 deletions moveit_core/planning_scene/src/planning_scene.cpp
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Expand Up @@ -1657,8 +1657,6 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
const EigenSTL::vector_Isometry3d& poses = attached_body->getGlobalCollisionBodyTransforms();
const std::string& name = attached_body->getName();

robot_state_->clearAttachedBody(name);

if (world_->hasObject(name))
ROS_WARN_NAMED(LOGNAME,
"The collision world already has an object with the same name as the body about to be detached. "
Expand All @@ -1670,6 +1668,8 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
ROS_DEBUG_NAMED(LOGNAME, "Detached object '%s' from link '%s' and added it back in the collision world",
name.c_str(), object.link_name.c_str());
}

robot_state_->clearAttachedBody(name);
}
if (!attached_bodies.empty() || object.object.id.empty())
return true;
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