Patches and fixes for ros2 branch #461
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sea-bass
approved these changes
May 15, 2023
sea-bass
reviewed
May 15, 2023
Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## ros2 #461 +/- ##
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Coverage 41.80% 41.80%
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Files 78 78
Lines 7846 7846
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Hits 3279 3279
Misses 4567 4567 ☔ View full report in Codecov by Sentry. |
v4hn
reviewed
May 17, 2023
| auto scene_diff_copy = scene_diff; | ||
| scene_diff_copy.robot_state.joint_state = sensor_msgs::msg::JointState(); | ||
| scene_diff_copy.robot_state.multi_dof_joint_state = sensor_msgs::msg::MultiDOFJointState(); | ||
| if (!context_->planning_scene_monitor_->newPlanningSceneMessage(scene_diff_copy)) |
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This is a fixup for 72afdd2 , please merge the commits.
Also, you should set robot_state.is_diff = true explicitly if you empty the robot_state fields and do it before you check for isEmpty because the set robot state will often be the only reason why the scene diff is not empty.
Could you split this feature into a separate PR? It's fully independent of the tiny other cleanups and might break something in the future.
JafarAbdi
approved these changes
May 24, 2023
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This PR contains a couple of fixes and improvements by @JafarAbdi that we've been using on a fork for quite some time but never got contributed upstream. With his consent, I am making that up now with this PR.
If desired I can divide this PR into smaller ones but I wanted to hear your feedback first.