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Always update initial robot state to prevent dirty robot state error. #448

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@henningkayser
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commented Feb 16, 2017

The class ModelBasedPlanningContext uses the initial robot state complete_initial_robot_state_. This robot state might be dirty if transforms are not up to date, which can cause errors while planning. To prevent this the robot state needs to be updated after initialization and reset.

@v4hn

v4hn approved these changes Feb 16, 2017

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@henhenhen thanks creating the pull-request :)

This is the result of a debugging session of @henhenhen and myself to get https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_planners/ompl/ompl_interface/src/demo_construct_state_database.cpp to work.
Turns out the code might work with a dirty robot state and after #188 running it prints an error.

Should be cherry-picked to j/k.

@davetcoleman
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makes sense

@davetcoleman davetcoleman merged commit 5625917 into ros-planning:indigo-devel Mar 11, 2017

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commented Mar 11, 2017

cherry-picked

@henningkayser henningkayser deleted the henningkayser:indigo-update_robot_state branch Dec 8, 2017

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