From f12cc0c1276fb196753cbac313fa0a7c7fa536b1 Mon Sep 17 00:00:00 2001 From: v4hn Date: Mon, 9 Mar 2020 10:09:01 +0100 Subject: [PATCH] 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 c44d0cac19ae96c042e262350419f91c77a80eb5. --- capabilities/src/execute_task_solution_capability.cpp | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp index dad10a82..42ae877b 100644 --- a/capabilities/src/execute_task_solution_capability.cpp +++ b/capabilities/src/execute_task_solution_capability.cpp @@ -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; };