From b2c3db7c97469ffee5666b8fc6c74d0206218efd Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Wed, 13 Dec 2023 09:10:05 -0800 Subject: [PATCH 1/2] Start servo's world geometry monitor --- moveit_ros/moveit_servo/src/utils/common.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp index 2a4a4817b0..b78c5c6ad9 100644 --- a/moveit_ros/moveit_servo/src/utils/common.cpp +++ b/moveit_ros/moveit_servo/src/utils/common.cpp @@ -400,6 +400,7 @@ planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor(const planning_scene_monitor->startStateMonitor(servo_params.joint_topic); planning_scene_monitor->startSceneMonitor(servo_params.monitored_planning_scene_topic); + planning_scene_monitor_->startWorldGeometryMonitor(); planning_scene_monitor->setPlanningScenePublishingFrequency(25); planning_scene_monitor->getStateMonitor()->enableCopyDynamics(true); planning_scene_monitor->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE, From 660ffa3edae96cb96f785c23d050576e3c7f7d88 Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Wed, 13 Dec 2023 10:59:33 -0800 Subject: [PATCH 2/2] Typo fix --- moveit_ros/moveit_servo/src/utils/common.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp index b78c5c6ad9..dd74f91e72 100644 --- a/moveit_ros/moveit_servo/src/utils/common.cpp +++ b/moveit_ros/moveit_servo/src/utils/common.cpp @@ -400,7 +400,7 @@ planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor(const planning_scene_monitor->startStateMonitor(servo_params.joint_topic); planning_scene_monitor->startSceneMonitor(servo_params.monitored_planning_scene_topic); - planning_scene_monitor_->startWorldGeometryMonitor(); + planning_scene_monitor->startWorldGeometryMonitor(); planning_scene_monitor->setPlanningScenePublishingFrequency(25); planning_scene_monitor->getStateMonitor()->enableCopyDynamics(true); planning_scene_monitor->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,