Port: Pr keep ref to scene valid #2745
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plan_execution-related modules rely on `plan.planning_scene_` in many places to point to the currently monitored scene (or a diff on top of it). Before this patch, if the PSM would receive full scenes during execution, `plan.planning_scene_` would not include later incremental updates anymore because the monitor created a new diff scene.
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Unfortunately, CI is broken due to a broken rolling setup. Do the tests pass locally? |
Yes, but CI wont do for a little longer :/ The rolling transition to Ubuntu 24.04 is blocking us here. The Humble CI failure is fixed by #2750 |
henningkayser
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Mar 26, 2024
rhaschke
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May 24, 2024
…it#2745) plan_execution-related modules rely on `plan.planning_scene_` in many places to point to the currently monitored scene (or a diff on top of it). Before this patch, if the PSM would receive full scenes during execution, `plan.planning_scene_` would not include later incremental updates anymore because the monitor created a new diff scene. --------- Co-authored-by: v4hn <me@v4hn.de>
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Description
Port moveit/moveit#3538 over from moveit1
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