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AndrejOrsula / pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services
BSD 3-Clause "New" or "Revised" License
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Reinstate Humble Compatibility for `GetCartesianPath` & Expose `planning_scene` To User #66

Closed amalnanavati closed 2 months ago

amalnanavati commented 2 months ago

This PR makes two small changes:

  1. Bug fix: the GetCartesianPath parameters added in #53 exist in Iron but not in Humble. This PR fixes that by checking if those attributes exist before assigning them.
  2. New capability: Although MoveIt2 had the ability to get and access the latest planning scene, that was not exposed to users. this PR addresses that.

(I'm happy to separate this into two PRs if you prefer -- I made it a joint PR for now given how small each change is.)