Sync with MoveIt #1402
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Sync with MoveIt #1402
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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>
…nts to the original PR (#3142)
Without this copies of the current robot state will not include velocities/efforts even when the driver publishes them. Disabling this by default still makes sense because many use-cases do not need this information at all and copying it in every joint state update incurs additional load.
default to false because the only upstream feature that can profit from it is the TrajectoryMonitor that can record the trajectory executed through the MoveGroup action.
move_group can optionally monitor dynamics
Codecov Report
@@ Coverage Diff @@
## main #1402 +/- ##
==========================================
+ Coverage 61.55% 61.57% +0.02%
==========================================
Files 274 274
Lines 24982 24982
==========================================
+ Hits 15375 15379 +4
+ Misses 9607 9603 -4
Continue to review full report at Codecov.
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tylerjw
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Jun 29, 2022
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Sync the following commits
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