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[Servo] Fix collision checking with attached objects #2747

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merged 3 commits into from
Mar 19, 2024
Merged

[Servo] Fix collision checking with attached objects #2747

merged 3 commits into from
Mar 19, 2024

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sea-bass
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@sea-bass sea-bass commented Mar 18, 2024 •
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Description

This PR introduces a slight fix to the MoveIt Servo collision checker to make it work with attached objects.

Turns out Current State Monitor has some issues, but Planning Scene Monitor works fine: #2748

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@sea-bass sea-bass self-assigned this Mar 18, 2024
@sea-bass sea-bass requested a review from AndyZe March 18, 2024 19:00
@sea-bass sea-bass mentioned this pull request Mar 18, 2024
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sea-bass commented Mar 18, 2024 •
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CI failures seem to be from #2749

sjahr
sjahr approved these changes Mar 19, 2024
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Do you mind adding a small comment that explains why getPlanningScene() is used instead of getStateMonitor? Worst case, someone casually switches it back next time the code is touched 😓

@henningkayser henningkayser added the backport-iron Mergify label that triggers a PR backport to Iron label Mar 19, 2024
@henningkayser henningkayser merged commit 68e8680 into main Mar 19, 2024
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@henningkayser henningkayser deleted the fix-servo-collision-attached-obj branch March 19, 2024 14:04
mergify bot pushed a commit that referenced this pull request Mar 19, 2024
@sea-bass @mergify
[Servo] Fix collision checking with attached objects (#2747)
80e173a 
(cherry picked from commit 68e8680)
@mergify mergify bot mentioned this pull request Mar 19, 2024
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sjahr pushed a commit that referenced this pull request Mar 22, 2024
@mergify @sea-bass
[Servo] Fix collision checking with attached objects (#2747) (#2754)
5108826 
(cherry picked from commit 68e8680)

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
@sea-bass sea-bass linked an issue May 3, 2024 that may be closed by this pull request
CurrentStateMonitor does not correctly report attached collision objects, but PlanningSceneMonitor does. #2748
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@henningkayser henningkayser henningkayser approved these changes

@sjahr sjahr sjahr approved these changes

@AndyZe AndyZe Awaiting requested review from AndyZe

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CurrentStateMonitor does not correctly report attached collision objects, but PlanningSceneMonitor does.
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