Fix bug in applying planning scene diffs that have attached collision objects (#3124) #1251
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… objects (#3124) * 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>
Codecov Report
@@ Coverage Diff @@
## main #1251 +/- ##
==========================================
- Coverage 61.28% 61.21% -0.07%
==========================================
Files 274 274
Lines 24929 24936 +7
==========================================
- Hits 15275 15261 -14
- Misses 9654 9675 +21
Continue to review full report at Codecov.
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vatanaksoytezer
approved these changes
May 16, 2022
AndyZe
approved these changes
May 16, 2022
JafarAbdi
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backport-foxy
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Jun 15, 2022
… objects (#3124) (#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> (cherry picked from commit d482c1d) # Conflicts: # moveit_core/planning_scene/test/test_planning_scene.cpp
mergify bot
pushed a commit
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Jun 15, 2022
… objects (#3124) (#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> (cherry picked from commit d482c1d)
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Description
Backport of moveit/moveit#3124
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