From 4f8c1b8b8e2738deef131a6dcd70040c80fd1223 Mon Sep 17 00:00:00 2001
From: Shobuj Paul <72087882+Shobuj-Paul@users.noreply.github.com>
Date: Wed, 11 Oct 2023 14:41:17 +0530
Subject: [PATCH] Seed mersenne twister variable with random device

---
 .../stomp/include/stomp_moveit/math/multivariate_gaussian.hpp  | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp b/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp
index f8b528568dc..dba83207abd 100644
--- a/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp
+++ b/moveit_planners/stomp/include/stomp_moveit/math/multivariate_gaussian.hpp
@@ -76,6 +76,7 @@ class MultivariateGaussian
 
   int size_;
   std::mt19937 rng_;
+  std::random_device rd_{};
   std::normal_distribution<double> normal_dist_;
 };
 
@@ -86,7 +87,7 @@ MultivariateGaussian::MultivariateGaussian(const Eigen::MatrixBase<Derived1>& me
                                            const Eigen::MatrixBase<Derived2>& covariance)
   : mean_(mean), covariance_(covariance), covariance_cholesky_(covariance_.llt().matrixL()), normal_dist_(0.0, 1.0)
 {
-  rng_.seed(rand());
+  rng_.seed(rd_());
   size_ = mean.rows();
 }