PSM: keep references to scene_ valid upon receiving full scenes #2850
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Looks like the test you ported, @sjahr, doesn't yet work. It complains about missing |
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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Or not 😞 |
…it#2745) plan_execution-related modules rely on `plan.planning_scene_` in many places to point to the currently monitored scene (or a diff on top of it). Before this patch, if the PSM would receive full scenes during execution, `plan.planning_scene_` would not include later incremental updates anymore because the monitor created a new diff scene. --------- Co-authored-by: v4hn <[email protected]>
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Please target the |
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This is a backport of #2745 from
maintohumble. The original PR was a port from MoveIt1.