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Silent error "Found empty JointState message"
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@ -170,8 +170,10 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
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exec_traj.effect_on_success_ = [this,
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&scene_diff = const_cast<::moveit_msgs::PlanningScene&>(sub_traj.scene_diff),
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description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
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// Never modify joint state directly (only via robot trajectories)
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scene_diff.robot_state.joint_state = sensor_msgs::JointState();
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scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::MultiDOFJointState();
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scene_diff.robot_state.is_diff = true; // silent empty JointState msg error
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if (!moveit::core::isEmpty(scene_diff)) {
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ROS_DEBUG_STREAM_NAMED("ExecuteTaskSolution", "apply effect of " << description);
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