PS: Don't reset color information of existing objects when new entries are added #410
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The stored colors were cleared whenever a new non-empty color entry was received. This is fine as long as one always sends the colors of all scene objects *together*, but breaks as soon as someone adds objects incrementally and only provides the color of the newly added object. In order to prevent dangling color information, I explicitly remove the relevant color entries after the respective object is removed.
While looking at the handling of color information, I noticed that ObjectType entries were not cleaned up properly either once the object got removed from the scene. This patch does just that.
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LGTM, thanks! |
JafarAbdi
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Mar 24, 2022
Co-authored-by: Denis Stogl <denis.stogl@picknik.ai>
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This implements a fix for #408.
When adding two different objects with color information one after the other (in two different PlanningScene updates), the color information of the first update is lost and overwritten during the second update.
As a result the color specified in the first update is lost and the existing (the first) object changes back to default-green in RViz.
In order to avoid memory leaks, I added explicit remove operations upon object removal.
However, this slightly changes current behavior: If you add an object with color information, remove it, and later on add that object back without specifying a color, the previous color was still cached - That is, unless any other PlanningScene update with color information was received in between.
Because of the changed behavior I would not backport this to i/j.
While I read through the code I found the explicit removal operations where missing for
ObjectTypes too, so I added these in a second commit.Notice that both remove functions do nothing if the entry is not present, so calling them cannot break anything here.