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