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Alternative fix
If start and end scene of a stage are identical (e.g. from a generator), we can use an (empty) scene diff as well.
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@ -231,7 +231,11 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::Solution& msg, Intros
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if (trajectory())
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trajectory()->getRobotTrajectoryMsg(t.trajectory);
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this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);
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if (this->end()->scene()->getParent() == this->start()->scene() || // diff
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this->end()->scene() == this->start()->scene()) // identical (from generator)
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this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);
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else
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this->end()->scene()->getPlanningSceneMsg(t.scene_diff);
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}
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double SubTrajectory::computeCost(const CostTerm& f, std::string& comment) const {
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