Full back port of #350 and #298#721
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k-okada wants to merge 3 commits intomoveit:indigo-develfrom
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…State() (moveit#298) .. to better reflect the actual semantics of the method to maintain API compatibility, the old function still exists, but is deprecated Conflicts: moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp moveit_ros/planning_interface/move_group_interface/src/move_group.cpp
* PSM::waitForCurrentRobotState() + PSM::syncSceneUpdates() * renamed wall_last_state_update_ to last_robot_state_update_wall_time_ * removed PSM::syncSceneUpdates() (and PSM::spinner_, PSM::callback_queue_) Due to an upstream bug, it's not possible to start multiple AsyncSpinners from different threads. Filed PR: ros/ros_comm#867 The spinner is now only needed to serve our own callback_queue_ for scene updates, which is only required for syncSceneUpdates() that syncs all kind of scene updates, not only the robot state. * rviz: execute state update in background ... because we might wait up to 1s for a robot state update * add robot_state update test * waitForRobotToStop() * Revert "wait a second before updating "current" in RViz (moveit#291)" This reverts commit e3ef9a6. * addressed Dave's comments Conflicts: moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp moveit_ros/planning_interface/move_group_interface/src/move_group.cpp moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
This was referenced Dec 12, 2017
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We prefer ABI-compatibility and thus slightly modifying #717. |
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see #717 (comment) for discussion
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