Revert moveit#1772

Even after reverting, I cannot reproduce the issue mentioned in moveit#1772 anymore. Reverting fixes moveit#1894 (comment).
v4hn · Mar 31, 2020 · e72f957 · e72f957
1 parent 6cd9108
commit e72f957
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Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -1139,7 +1139,7 @@ void MotionPlanningDisplay::onRobotModelLoaded()
   query_robot_start_->load(*getRobotModel()->getURDF());
   query_robot_goal_->load(*getRobotModel()->getURDF());
 
-  // initialize previous state to current state
+  // initialize previous state, start state, and goal state to current state
   previous_state_ = std::make_shared<robot_state::RobotState>(getPlanningSceneRO()->getCurrentState());
   query_start_state_.reset(new robot_interaction::InteractionHandler(robot_interaction_, "start", *previous_state_,
                                                                      planning_scene_monitor_->getTFClient()));

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -172,9 +172,6 @@ void MotionPlanningFrame::computePlanButtonClicked()
   ui_->result_label->setText("Planning...");
 
   configureForPlanning();
-  // move_group node uses an empty start state to refer to the most recent current state
-  if (ui_->start_state_combo_box->currentText() == "<current>")
-    move_group_->setStartStateToCurrentState();
   planning_display_->rememberPreviousStartState();
   bool success = (ui_->use_cartesian_path->isEnabled() && ui_->use_cartesian_path->checkState()) ?
                      computeCartesianPlan() :