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fix PS getDiffMsg #939

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merged 1 commit into from Jun 5, 2018

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commented Jun 5, 2018

The robot state should be marked as diff, otherwise
PlanningScene::isEmpty(RobotState&) will not acknowledge
it as empty.

@rhaschke

fix PS getDiffMsg
The robot state should be marked as diff, otherwise
PlanningScene::isEmpty(RobotState&) will not acknowledge
it as empty.
@rhaschke
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Well spotted, but I think is_diff should be set to true in any case.

scene_msg.robot_state = moveit_msgs::RobotState();
scene_msg.robot_state.is_diff = true;

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rhaschke Jun 5, 2018

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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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v4hn Jun 5, 2018

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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 rhaschke merged commit 62ebe86 into ros-planning:kinetic-devel Jun 5, 2018

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rhaschke added a commit that referenced this pull request Jun 5, 2018

fix PS getDiffMsg (#939)
The robot state should be marked as diff, 
otherwise PlanningScene::isEmpty(RobotState&) will not acknowledge it as empty.

@v4hn v4hn referenced this pull request Jun 5, 2018

Merged

ExecuteTaskSolution capability #54

rhaschke added a commit that referenced this pull request Jul 4, 2018

reset moveit_msgs::RobotState.is_diff to false (#968)
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg.
This fixes a regression introduced in #939.

rhaschke added a commit to ubi-agni/moveit that referenced this pull request Jul 4, 2018

reset moveit_msgs::RobotState.is_diff to false (ros-planning#968)
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg.
This fixes a regression introduced in ros-planning#939.

dg-shadow added a commit to shadow-robot/moveit that referenced this pull request Jul 30, 2018

fix PS getDiffMsg (ros-planning#939)
The robot state should be marked as diff, 
otherwise PlanningScene::isEmpty(RobotState&) will not acknowledge it as empty.

dg-shadow added a commit to shadow-robot/moveit that referenced this pull request Jul 30, 2018

reset moveit_msgs::RobotState.is_diff to false (ros-planning#968)
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg.
This fixes a regression introduced in ros-planning#939.

MohmadAyman added a commit to MohmadAyman/moveit that referenced this pull request Aug 25, 2018

reset moveit_msgs::RobotState.is_diff to false (ros-planning#968)
Reset moveit_msgs::RobotState.is_diff to false whenever actually filling a RobotState msg.
This fixes a regression introduced in ros-planning#939.
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