From af67324224d1e7b3d0747284ac410d0fd460826a Mon Sep 17 00:00:00 2001 From: v4hn Date: Mon, 6 Mar 2017 23:44:04 +0100 Subject: [PATCH] add missing model_id to published cartesian trajectory --- src/subtasks/cartesian_position_motion.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/subtasks/cartesian_position_motion.cpp b/src/subtasks/cartesian_position_motion.cpp index c58b1a27..5d8816a6 100644 --- a/src/subtasks/cartesian_position_motion.cpp +++ b/src/subtasks/cartesian_position_motion.cpp @@ -267,6 +267,7 @@ void moveit::task_constructor::subtasks::CartesianPositionMotion::_publishTrajectory(const robot_trajectory::RobotTrajectory& trajectory, const moveit::core::RobotState& start){ moveit_msgs::DisplayTrajectory dt; robot_state::robotStateToRobotStateMsg(start, dt.trajectory_start); + dt.model_id= scene_->getRobotModel()->getName(); dt.trajectory.resize(1); trajectory.getRobotTrajectoryMsg(dt.trajectory[0]); dt.model_id= start.getRobotModel()->getName();