diff --git a/core/src/task.cpp b/core/src/task.cpp index 63f012f5..6f404eca 100644 --- a/core/src/task.cpp +++ b/core/src/task.cpp @@ -93,6 +93,8 @@ Task::createPlanner(const robot_model::RobotModelConstPtr& model, const std::str planner = std::make_shared (model, ros::NodeHandle(ns), planning_plugin_param_name, adapter_plugins_param_name); planner_cache[id] = planner; + planner->displayComputedMotionPlans(false); + planner->publishReceivedRequests(false); } return planner; }