add missing model_id to published cartesian trajectory

This commit is contained in:
v4hn 2017-03-06 23:44:04 +01:00
parent f8b1b3c204
commit af67324224

View File

@ -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();