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I was running into issues where objects I'd added to the planning scene (using PlanningSceneInterface) were disappearing, and discovered that running ros2 service call /get_planning_scene moveit_msgs/srv/GetPlanningScene would sometimes return a response with the objects and sometimes without. I narrowed the problem down to only happening when I launched moveit_servo, and by running ros2 node info /servo_node_private_94365815282960 discovered that it was providing a /get_planning_scene service server in addition to the move_group. I'm assuming the issue is that there's two servers/planning scenes running, and any calls will arbitrarily hit one or the other of them.
I could namespace the servo_node, but it seems like the default behavior shouldn't cause problems.
Your environment
ROS Distro: Humble
OS Version: Ubuntu 22.04
Source or Binary build? Binary
If binary, which release version? 2.5.5-1jammy.20240126.074529
If source, which branch? N/A
Which RMW (Fast DDS or Cyclone DDS)? Default for Humble
This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.
Description
I was running into issues where objects I'd added to the planning scene (using
PlanningSceneInterface
) were disappearing, and discovered that runningros2 service call /get_planning_scene moveit_msgs/srv/GetPlanningScene
would sometimes return a response with the objects and sometimes without. I narrowed the problem down to only happening when I launchedmoveit_servo
, and by runningros2 node info /servo_node_private_94365815282960
discovered that it was providing a/get_planning_scene
service server in addition to themove_group
. I'm assuming the issue is that there's two servers/planning scenes running, and any calls will arbitrarily hit one or the other of them.I could namespace the servo_node, but it seems like the default behavior shouldn't cause problems.
Your environment
Steps to reproduce
The MoveIt launchfile I'm using is based on https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/humble/ur_moveit_config/launch/ur_moveit.launch.py, and the relevant node that causes problems is:
Expected behaviour
The servo node shouldn't clobber the move_group's planning scene
Actual behaviour
Two dueling planning scenes
Backtrace or Console output
N/A
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