Add warning when user add tf2 buffer to a transform listener while us…

…ing csm

moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp

@@ -159,6 +159,15 @@ void CurrentStateMonitor::startStateMonitor(const std::string& joint_states_topi
     }
     if (tf_buffer_ && !robot_model_->getMultiDOFJointModels().empty())
     {
+      // If a dedicated thread is enabled for the buffer this probably mean the user is adding them either through
+      // tf2_ros::TransformListener or themselves, so we print a warning message telling that transformCallback is doing
+      // the same duplicate operation
+      if (tf_buffer_->isUsingDedicatedThread())
+      {
+        RCLCPP_WARN(LOGGER, "The tf2_ros::Buffer is attached to tf2_ros::TransformListener and the internal tf "
+                            "subscribers inside CurrentStateMonitor, you may want to remove the transform listener to "
+                            "avoid duplicate addition to the same transforms");
+      }
       tf_buffer_->setUsingDedicatedThread(true);
       middleware_handle_->createDynamicTfSubscription(
           std::bind(&CurrentStateMonitor::transformCallback, this, std::placeholders::_1, false));