PSM: Correctly handle full planning scene message #2876
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Fixes #3538/#3609 If the message is not a diff and parent_scene is not set either, the message should be handled as a full planning scene message as before #3538.
rhaschke
approved these changes
Jun 21, 2024
github-merge-queue
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marioprats
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Jun 26, 2024
| @@ -1262,6 +1262,7 @@ bool PlanningScene::setPlanningSceneDiffMsg(const moveit_msgs::msg::PlanningScen | |||
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| bool PlanningScene::setPlanningSceneMsg(const moveit_msgs::msg::PlanningScene& scene_msg) | |||
| { | |||
| assert(scene_msg.is_diff == false); | |||
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Is this method public-facing? if so, do we want to throw an assertion here?
Since this function returns a bool already, we could also return false and print out an error message, which would also work in release builds
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The assertion is just a reminder, that this method should not be called with planning scene diffs. If it is, it is probably a logical error in the code, causing some issues down the road.
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Port #3610
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