fix PS getDiffMsg #939
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fix PS getDiffMsg #939
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The robot state should be marked as diff, otherwise PlanningScene::isEmpty(RobotState&) will not acknowledge it as empty.
rhaschke
requested changes
Jun 5, 2018
| scene_msg.robot_state = moveit_msgs::RobotState(); | ||
| scene_msg.robot_state.is_diff = true; |
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Why do you want to set is_diff only in else branch? I think, it should be set always.
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No. To the best of my knowledge the whole framework expects that in case kstate_ is defined, it defines a full robot state including all attached objects. kstates of underlying planning scenes are ignored.
This is a rather longstanding shortcoming in MoveIt.
I agree though that it is confusing in this case, because we ask for a diff...
rhaschke
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Jun 5, 2018
rhaschke
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Jun 5, 2018
The robot state should be marked as diff, otherwise PlanningScene::isEmpty(RobotState&) will not acknowledge it as empty.
rhaschke
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Jul 4, 2018
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg. This fixes a regression introduced in #939.
rhaschke
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Jul 4, 2018
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg. This fixes a regression introduced in moveit#939.
dg-shadow
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Jul 30, 2018
The robot state should be marked as diff, otherwise PlanningScene::isEmpty(RobotState&) will not acknowledge it as empty.
dg-shadow
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Jul 30, 2018
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg. This fixes a regression introduced in moveit#939.
mayman99
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Aug 25, 2018
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg. This fixes a regression introduced in moveit#939.
JafarAbdi
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Mar 24, 2022
Co-authored-by: AndyZe <zelenak@picknik.ai>
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The robot state should be marked as diff, otherwise
PlanningScene::isEmpty(RobotState&) will not acknowledge
it as empty.
@rhaschke