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Fix allowCollisions(object, enable_collision)
Call ACM::setDefaultEntry to also cover objects that are not yet known to the ACM.
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@ -111,8 +111,10 @@ void ModifyPlanningScene::allowCollisions(planning_scene::PlanningScene& scene,
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collision_detection::AllowedCollisionMatrix& acm = scene.getAllowedCollisionMatrixNonConst();
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bool allow = invert ? !pairs.allow : pairs.allow;
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if (pairs.second.empty()) {
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for (const auto& name : pairs.first)
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for (const auto& name : pairs.first) {
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acm.setDefaultEntry(name, allow);
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acm.setEntry(name, allow);
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}
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} else
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acm.setEntry(pairs.first, pairs.second, allow);
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}
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