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moveit / moveit_ros

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Update frame transforms in PlanningScene callback as well #652

Closed marcoesposito1988 closed 8 years ago

marcoesposito1988 commented 8 years ago

Sending a PlanningScene message which adds object to the environment does not trigger a call to updateFrameTransforms. The result can be an annoying error of the type as in the following topic:

http://answers.ros.org/question/166606/how-do-i-use-collision_objectheaderframe_id-can-i-use-it-for-frame-transformations/

Is there a reason why PlanningScene does not trigger it, while all other topic callbacks do? If not, this is a straight-forward bugfix.

v4hn commented 8 years ago

Good question. I don't know of a reason not to update here. Actually, this issue is the reason why I added an explicit updateFrameTransforms here: https://github.com/ros-planning/moveit_ros/commit/806ca363c681c6bec4f644ec2b222aa4233d708d#diff-10290b25cee00537f3a1c5004bf4f711R57

+1 on adding the update to newPlanningScene instead. I'll open a new request as this one cannot be applied anymore.