Fix bug in applying planning scene diffs that have attached collision objects #3124
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@@ Coverage Diff @@
## master #3124 +/- ##
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+ Coverage 61.55% 61.60% +0.05%
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Files 376 376
Lines 33308 33314 +6
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+ Hits 20501 20521 +20
+ Misses 12807 12793 -14
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AndyZe
reviewed
Apr 29, 2022
AndyZe
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May 2, 2022
JafarAbdi
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May 9, 2022
AndyZe
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May 9, 2022
tahsinkose
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May 10, 2022
…ld cause them to override the aco
Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: AndyZe <andyz@utexas.edu>
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| } | ||
| scene_msg.robot_state.is_diff = true; |
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I think, this is correct. However, @v4hn explicitly had a different opinion, when he introduced this code line: #939 (comment)
| @@ -345,6 +345,129 @@ TEST_P(CollisionDetectorTests, ClearDiff) | |||
| parent.reset(); | |||
| } | |||
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| // Returns a planning scene diff message | |||
| moveit_msgs::PlanningScene create_planning_scene_diff(planning_scene::PlanningScene& ps, const std::string& object_name, | |||
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Here PlanningScene should be a const reference, shouldn't it?
| @@ -711,6 +711,18 @@ void PlanningScene::getPlanningSceneDiffMsg(moveit_msgs::PlanningScene& scene_ms | |||
| if (do_omap) | |||
| getOctomapMsg(scene_msg.world.octomap); | |||
| } | |||
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| // Ensure any detached collision objects get detached from the parent planning scene, too | |||
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This comment is misleading: The parent planning scene is not (and should not get) modified.
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Agreed, I had a to-do to update the comment, but it got resolved somehow
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…nts to the original PR (#3142)
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Jun 21, 2024
… objects (moveit#3124) (moveit#1251) * Add test that trigger the bug in applying scene that have robot state diffs * Fix a bug in planning scene diffs where having applying two diffs would cause them to override the aco * Fix a bug where removing an attached collision object would keep it in the scene * Update moveit_core/planning_scene/test/test_planning_scene.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/planning_scene/test/test_planning_scene.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/planning_scene/src/planning_scene.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Check parent pointer Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>
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Description
This fixes a bug we had while executing an MTC task where having two different planning scenes diffs that add a collision object to the scene, the first commit is just a test that trigger the bug, the second commit sets
robot_state.is_diffto true when callinggetPlanningSceneDiffMsgwhich prevent conversions.cpp#L369-L372 from deleting the aco from the robot state when applying the diffs, but now when calling PlanningScene::setCurrentState while detaching an object that object is staying in the scene so the last commit fixes it by explicitly removing the aco in the case of scene diffThis work is sponsored by RE2 Robotics