Fix planning scene display initial state #409
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The rate of state updates is limited to dt_state_update_ per second. When an update arrived it was not processed if another was recently processed. This meant that if a quick sequence of state updates arrived and then no updates arrive for a while that the last update(s) were not seen until another arrives (which may be much later or never). This fixes the bug by periodically checking for pending updates and running them if they have been pending longer than dt_state_update_.
Get current planning scene state when planning scene display is enabled and/or model is loaded.
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| ROS_ERROR("Failed to call service %s at %s:%d", | ||
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FILE and LINE are already included in the call to ROS_ERROR. You can see these in either rosconsole, or you can configure your rosconsole output with ROSCONSOLE_FORMAT (http://wiki.ros.org/rosconsole)
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+1 |
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+1 Just tested this with a hacked version of the industrial robot simulator that publishes initial values to all be 1.0. It works but requires an additional line in move_group.launch to configure the capability for getting planning scene - here's the full param for capabilities in move_group.launch. The additional line is the last one that adds move_group/MoveGroupGetPlanningSceneService |
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+1 as well. We should update the setup assistant to add the GetPlanningSceneService plugin though (I've manually added it in the past for our robot). Should probably also send an email to the mailing list when this gets merged/released so that people know to update their already exported configurations. |
Fix planning scene display initial state
…eit#409) * Issue moveit#406 implementation: Set color of collision objects via PlanningSceneInterface * Remove color information from applyAttachedCollisionObject(s) methods, as it's not used at all according to @v4hn
When rviz starts after move_group, the planning scene diff messages sent by move_group do not give PlanningSceneDisplay the full state of the planning scene. For example if the robot has not moved for a while then move_group may not be sending updates of the robot state and the state of the PlanningScene robot will be different from the actual state of the real robot (it will appear in the default position rather than the current position).
This change fixes the PlanningSceneDisplay so that when it starts up (robot model is loaded or planning scene monitor topic changes) it will query move_group for the current full PlanningScene state and use that to initialize the PlanningScene maintained by the PlanningSceneDisplay.
Fixes issue #405
Replaces #407 and adds to #408