[Servo] Fix collision checking with attached objects#2747
Merged
henningkayser merged 3 commits intomainfrom Mar 19, 2024
Merged
[Servo] Fix collision checking with attached objects#2747henningkayser merged 3 commits intomainfrom
henningkayser merged 3 commits intomainfrom
Conversation
sea-bass
commented
Mar 18, 2024
Contributor
Author
|
CI failures seem to be from #2749 |
sjahr
approved these changes
Mar 19, 2024
Contributor
sjahr
left a comment
There was a problem hiding this comment.
Do you mind adding a small comment that explains why getPlanningScene() is used instead of getStateMonitor? Worst case, someone casually switches it back next time the code is touched 😓
henningkayser
approved these changes
Mar 19, 2024
mergify bot
pushed a commit
that referenced
this pull request
Mar 19, 2024
(cherry picked from commit 68e8680)
6 tasks
sjahr
pushed a commit
that referenced
this pull request
Mar 22, 2024
6 tasks
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
This PR introduces a slight fix to the MoveIt Servo collision checker to make it work with attached objects.
Turns out Current State Monitor has some issues, but Planning Scene Monitor works fine: #2748
Checklist