Fix MoveGroupInterface uninitialized RobotState (#3008)

moveit · Dec 23, 2021 · a25515b · a25515b
1 parent 23dff03
commit a25515b
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -1597,7 +1597,10 @@ void MoveGroupInterface::setStartState(const moveit_msgs::RobotState& start_stat
   if (start_state.is_diff)
     impl_->getCurrentState(rs);
   else
+  {
     rs = std::make_shared<moveit::core::RobotState>(getRobotModel());
+    rs->setToDefaultValues();  // initialize robot state values for conversion
+  }
   moveit::core::robotStateMsgToRobotState(start_state, *rs);
   setStartState(*rs);
 }