From e72f957637bb01443fe1cb32c5063dd3e74bce2c Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 13 Feb 2020 11:41:32 +0100 Subject: [PATCH] Revert #1772 Even after reverting, I cannot reproduce the issue mentioned in #1772 anymore. Reverting fixes https://github.com/ros-planning/moveit/pull/1894#issuecomment-585417830. --- .../src/motion_planning_display.cpp | 2 +- .../src/motion_planning_frame_planning.cpp | 3 --- 2 files changed, 1 insertion(+), 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 index 9e90913a19..26bd9dfe4a 100644 --- 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(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 index a9ea3cfbe9..1fc4788345 100644 --- 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() == "") - move_group_->setStartStateToCurrentState(); planning_display_->rememberPreviousStartState(); bool success = (ui_->use_cartesian_path->isEnabled() && ui_->use_cartesian_path->checkState()) ? computeCartesianPlan() :