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PSM: Correctly handle full planning scene message #2876

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merged 3 commits into from
Jul 11, 2024
Merged

PSM: Correctly handle full planning scene message #2876

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e3c20c4
PSM: Correctly handle full planning scene message (#3610)
rhaschke Jun 21, 2024
e8224d4
Merge branch 'main' into pr-port-planning-scene-fix
sjahr Jul 4, 2024
f1c1ab4
Merge branch 'main' into pr-port-planning-scene-fix
sjahr Jul 11, 2024
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1 change: 1 addition & 0 deletions moveit_core/planning_scene/src/planning_scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1262,6 +1262,7 @@ bool PlanningScene::setPlanningSceneDiffMsg(const moveit_msgs::msg::PlanningScen

bool PlanningScene::setPlanningSceneMsg(const moveit_msgs::msg::PlanningScene& scene_msg)
{
assert(scene_msg.is_diff == false);
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Is this method public-facing? if so, do we want to throw an assertion here?
Since this function returns a bool already, we could also return false and print out an error message, which would also work in release builds

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The assertion is just a reminder, that this method should not be called with planning scene diffs. If it is, it is probably a logical error in the code, causing some issues down the road.

RCLCPP_DEBUG(getLogger(), "Setting new planning scene: '%s'", scene_msg.name.c_str());
name_ = scene_msg.name;

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2 changes: 1 addition & 1 deletion moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
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Expand Up @@ -740,7 +740,7 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::Plann
}
else
{
result = scene_->setPlanningSceneDiffMsg(scene);
result = scene_->usePlanningSceneMsg(scene);
}

if (octomap_monitor_)
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