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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)
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Codecov ReportAttention: Patch coverage is
❗ Your organization needs to install the Codecov GitHub app to enable full functionality. Additional details and impacted files@@ Coverage Diff @@
## jazzy #3365 +/- ##
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+ Coverage 44.40% 44.41% +0.01%
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Files 701 701
Lines 61866 61864 -2
Branches 7494 7494
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+ Hits 27466 27469 +3
+ Misses 34232 34227 -5
Partials 168 168 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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6 tasks
sea-bass
approved these changes
Mar 6, 2025
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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.
Checklist
This is an automatic backport of pull request #3357 done by [Mergify](https://mergify.com).