mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Clear JointStates in scene diff (#504)
Joints are handled in trajectories. Scene diffs should not modify joints during execution. Fixes #353.
This commit is contained in:
parent
b0f388a88f
commit
a75d50e0ed
@ -230,6 +230,9 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::Solution& msg, Intros
|
||||
trajectory()->getRobotTrajectoryMsg(t.trajectory);
|
||||
|
||||
this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);
|
||||
// reset JointStates (joints are already handled in trajectories)
|
||||
t.scene_diff.robot_state.joint_state = sensor_msgs::JointState();
|
||||
t.scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::MultiDOFJointState();
|
||||
}
|
||||
|
||||
double SubTrajectory::computeCost(const CostTerm& f, std::string& comment) const {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user