From 8db5eb01472f694ca83f6883a71d33e884efd380 Mon Sep 17 00:00:00 2001 From: v4hn Date: Wed, 9 Aug 2017 14:09:36 +0200 Subject: [PATCH] robotStateMsgToRobotState: is_diff==true => not empty In case the incoming RobotStateMsg is a diff, the joint fields are allowed to be empty. This is used to change attached objects. --- moveit_core/robot_state/src/conversions.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp index da8f3f05bc..53dc2b00bf 100644 --- 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;