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GeneratePose: forward registered properties from received solution
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@ -70,7 +70,9 @@ void GeneratePose::compute() {
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if (upstream_solutions_.empty())
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return;
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planning_scene::PlanningScenePtr scene = upstream_solutions_.pop()->end()->scene()->diff();
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const SolutionBase& s = *upstream_solutions_.pop();
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planning_scene::PlanningSceneConstPtr scene = s.end()->scene()->diff();
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geometry_msgs::PoseStamped target_pose = properties().get<geometry_msgs::PoseStamped>("pose");
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if (target_pose.header.frame_id.empty())
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target_pose.header.frame_id = scene->getPlanningFrame();
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@ -80,6 +82,7 @@ void GeneratePose::compute() {
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}
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InterfaceState state(scene);
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forwardProperties(*s.end(), state); // forward registered properties from received solution
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state.properties().set("target_pose", target_pose);
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SubTrajectory trajectory;
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