search

ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
Apache License 2.0
126 stars 92 forks source link

Make isInCollision(..) use an up-to-date PlanningScene instance when checking (for Godel) #187

Closed gavanderhoorn closed 7 years ago

gavanderhoorn commented 7 years ago

As per subject. This appears to be the minimum amount of changes needed to implement the described functionality.

Note that in order to avoid service invocation overhead, callers of any planner functions are required to first call robot_model::updateInternals().

This PR might not be mergeable as-is, but I wanted to allow for discussion here.

Jmeyer1292 commented 7 years ago

Merging this PR into a kinetic-godel branch for testing purposes.

gavanderhoorn commented 7 years ago

Note that this might crash move_group sometimes, probably due to a bug in OctoMap (OctoMap/octomap#147).