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PS: do not list object as destroyed when they get attached #2864

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merged 2 commits into from Sep 3, 2021
Merged

PS: do not list object as destroyed when they get attached #2864

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cdac8ac
PS: do not list object as destroyed when they got attached
v4hn Sep 2, 2021
98cf3ed
PS: Warn when user tried to remove a nonexistent object
v4hn Sep 2, 2021
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23 changes: 18 additions & 5 deletions moveit_core/planning_scene/src/planning_scene.cpp
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Expand Up @@ -693,11 +693,20 @@ void PlanningScene::getPlanningSceneDiffMsg(moveit_msgs::PlanningScene& scene_ms
do_omap = true;
else if (it.second == collision_detection::World::DESTROY)
{
moveit_msgs::CollisionObject co;
co.header.frame_id = getPlanningFrame();
co.id = it.first;
co.operation = moveit_msgs::CollisionObject::REMOVE;
scene_msg.world.collision_objects.push_back(co);
// if object became attached, it should not be recorded as removed here
if (!std::count_if(scene_msg.robot_state.attached_collision_objects.cbegin(),
scene_msg.robot_state.attached_collision_objects.cend(),
[&it](const moveit_msgs::AttachedCollisionObject& aco) {
return aco.object.id == it.first &&
aco.object.operation == moveit_msgs::CollisionObject::ADD;
}))
{
moveit_msgs::CollisionObject co;
co.header.frame_id = getPlanningFrame();
co.id = it.first;
co.operation = moveit_msgs::CollisionObject::REMOVE;
scene_msg.world.collision_objects.push_back(co);
}
}
else
{
Expand Down Expand Up @@ -1818,7 +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);
Expand Down