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So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz. Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added.
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## main #3357 +/- ##
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+ Coverage 45.84% 46.24% +0.40%
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Files 717 717
Lines 62573 62591 +18
Branches 7564 7566 +2
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+ Hits 28680 28937 +257
+ Misses 33726 33487 -239
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sjahr
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* Renames .hpp files to .h to help cherry pick. * Publish planning scene while planning (#3689) So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz. Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added. * Renames .h files back to .hpp. * Updates message types to ros2. * Updates to use new variable names. * Undoes erroneous autoformatting. (cherry picked from commit e2b24f5) # Conflicts: # moveit_planners/pilz_industrial_motion_planner/src/move_group_sequence_action.cpp # moveit_ros/move_group/src/default_capabilities/move_action_capability.cpp # moveit_ros/planning/moveit_cpp/src/planning_component.cpp # moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp # moveit_ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/roscpp_initializer.h
mergify bot
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* Renames .hpp files to .h to help cherry pick. * Publish planning scene while planning (#3689) So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz. Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added. * Renames .h files back to .hpp. * Updates message types to ros2. * Updates to use new variable names. * Undoes erroneous autoformatting. (cherry picked from commit e2b24f5)
This was referenced Feb 27, 2025
sussybot5258
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Apr 19, 2025
* Renames .hpp files to .h to help cherry pick. * Publish planning scene while planning (moveit#3689) So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz. Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added. * Renames .h files back to .hpp. * Updates message types to ros2. * Updates to use new variable names. * Undoes erroneous autoformatting.
Markus-Simonsen
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* Renames .hpp files to .h to help cherry pick. * Publish planning scene while planning (moveit#3689) So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz. Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added. * Renames .h files back to .hpp. * Updates message types to ros2. * Updates to use new variable names. * Undoes erroneous autoformatting.
helen9975
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* Renames .hpp files to .h to help cherry pick. * Publish planning scene while planning (moveit#3689) So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz. Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added. * Renames .h files back to .hpp. * Updates message types to ros2. * Updates to use new variable names. * Undoes erroneous autoformatting.
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Description
Ports moveit/moveit#3689, which avoids blocking the publishing of planning scenes during long operations, by copying planning scenes rather than locking the planning scene monitor.
Please backport to humble and jazzy when merged.
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