Make moveit_servo listen to Octomap updates (backport #2601) (#2606)

--------- Co-authored-by: Amal Nanavati <[email protected]> (cherry picked from commit 87d5945)
moveit · May 10, 2024 · a812d57 · a812d57
1 parent 08e9e8d
commit a812d57
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/moveit_ros/moveit_servo/src/servo_node.cpp b/moveit_ros/moveit_servo/src/servo_node.cpp
@@ -90,6 +90,7 @@ ServoNode::ServoNode(const rclcpp::NodeOptions& options)
       node_, robot_description_name, "planning_scene_monitor");
   planning_scene_monitor_->startStateMonitor(servo_parameters->joint_topic);
   planning_scene_monitor_->startSceneMonitor(servo_parameters->monitored_planning_scene_topic);
+  planning_scene_monitor_->startWorldGeometryMonitor();
   planning_scene_monitor_->setPlanningScenePublishingFrequency(25);
   planning_scene_monitor_->getStateMonitor()->enableCopyDynamics(true);
   planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,