Merge pull request moveit#589 from v4hn/pr-kinetic-rs-empty-if-no-diff

robotStateMsgToRobotState: is_diff==true => not empty
otamachan · Aug 14, 2017 · 3499872 · 3499872
2 parents 7d36403 + 8db5eb0
commit 3499872
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
@@ -332,7 +332,7 @@ static bool _robotStateMsgToRobotStateHelper(const Transforms* tf, const moveit_
   bool valid;
   const moveit_msgs::RobotState& rs = robot_state;
 
-  if (rs.joint_state.name.empty() && rs.multi_dof_joint_state.joint_names.empty())
+  if (!rs.is_diff && rs.joint_state.name.empty() && rs.multi_dof_joint_state.joint_names.empty())
   {
     logError("Found empty JointState message");
     return false;