PS: do not list object as destroyed when they get attached #2864
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The information in the diff is redundant because attaching implies the removal from the PlanningScene. In the unlikely case you relied on the REMOVE entry in the diff message, use the newly attached collision object to indicate the same instead.
Codecov Report
@@ Coverage Diff @@
## master #2864 +/- ##
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+ Coverage 60.88% 60.99% +0.12%
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Files 368 373 +5
Lines 31715 31731 +16
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+ Hits 19306 19351 +45
+ Misses 12409 12380 -29
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rhaschke
approved these changes
Sep 3, 2021
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The information in the diff is redundant because attaching an object implies its removal from the PlanningScene.
In the unlikely case you relied on the REMOVE entry in the diff message, use the newly attached collision object to indicate the same instead.
Since fd88dd6 applying the message with both entries via
PlanningScene::usePlanningSceneMsgfails, but messages generated byPlanningScene::getPlanningSceneDiffMsgshould always be accepted there!This currently breaks task execution through the MTC capability here whenever an object becomes attached (e.g., in the pick-place demo - aside from the missing frame issue).
Edit: also warn when anything tries to remove a world object that does not exist.