Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Do not switch object and shape poses of attached objects with subframes #3145

Open
wants to merge 2 commits into
base: main
Choose a base branch
from
+1 −1
Open

Do not switch object and shape poses of attached objects with subframes #3145

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
438609f
Do not switch object and shape poses of attached objects with subframes
ANogin Dec 2, 2024
1a0ec71
Fix a linter error
ANogin Dec 3, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Next Next commit
Do not switch object and shape poses of attached objects with subframes
@ANogin
ANogin committed Dec 2, 2024
commit 438609fe43fa96f578ba6d58d86353cc9b71a77d
2 changes: 1 addition & 1 deletion moveit_core/planning_scene/src/planning_scene.cpp
View file
Original file line number Diff line number Diff line change
@@ -1817,7 +1817,7 @@ bool PlanningScene::shapesAndPosesFromCollisionObjectMessage(const moveit_msgs::
shape_poses.reserve(num_shapes);

bool switch_object_pose_and_shape_pose = false;
if (num_shapes == 1 && moveit::core::isEmpty(object.pose))
if (num_shapes == 1 && (!object.subframe_poses.size()) && moveit::core::isEmpty(object.pose))
{
// If the object pose is not set but the shape pose is, use the shape's pose as the object pose.
switch_object_pose_and_shape_pose = true;