Revert "workaround for MoveIt PlanningScene bug"

Fixed via https://github.com/ros-planning/moveit/pull/1899.
Please use *latest* master (if you do not use melodic builds).

This reverts commit c44d0cac19.
This commit is contained in:
v4hn 2020-03-09 10:09:01 +01:00
parent 8f56d4ae79
commit f12cc0c127

View File

@ -173,12 +173,7 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
if (!planning_scene::PlanningScene::isEmpty(sub_traj.scene_diff)) {
#endif
ROS_DEBUG_STREAM_NAMED("ExecuteTaskSolution", "apply effect of " << description);
bool result = context_->planning_scene_monitor_->newPlanningSceneMessage(sub_traj.scene_diff);
#if MOVEIT_MASTER
// HACK: workaround for https://github.com/ros-planning/moveit/issues/1835
ros::Duration(0.1).sleep();
#endif
return result;
return context_->planning_scene_monitor_->newPlanningSceneMessage(sub_traj.scene_diff);
}
return true;
};