Fix "Planning Scene ROS API" tutorial

[sjahr]

Description

Another task taken from @tylerjw's TODO list from ros-planning/panda_moveit_config/pull/74#. I fixed the "Planning Scene ROS API" tutorial. The adaption of the object's spawn position and size also fixes the removal for me.

While the tutorial does what it should, attaching the object to the arm causes this console output:

ros.moveit_core.robot_state: Found empty JointState message

Triggered by publishing the planning diff message here.
Any ideas why this happens?

Checklist

• Solve empty JointState message
• Fix "Planning Scene ROS API" tutorial to spawn the object in the gripper and remove it from the world in the last step.
• Required by CI: Code is auto formatted using clang-format

[JafarAbdi]

Thanks @sjahr for submitting the PR!

The reason for the empty joint message error is the robot_state message should be diff

ROS_INFO("Attaching the object to the hand and removing it from the world.");
planning_scene.world.collision_objects.clear();
planning_scene.world.collision_objects.push_back(remove_object);
planning_scene.robot_state.attached_collision_objects.push_back(attached_object);
planning_scene.robot_state.is_diff = true;
planning_scene_diff_publisher.publish(planning_scene);

And just for consistency, do you mind changing the frame_id for the remove_object from panda_link0 to panda_hand .?

[sjahr]

Thanks @sjahr for submitting the PR!

The reason for the empty joint message error is the robot_state message should be diff

ROS_INFO("Attaching the object to the hand and removing it from the world.");
planning_scene.world.collision_objects.clear();
planning_scene.world.collision_objects.push_back(remove_object);
planning_scene.robot_state.attached_collision_objects.push_back(attached_object);
planning_scene.robot_state.is_diff = true;
planning_scene_diff_publisher.publish(planning_scene);

And just for consistency, do you mind changing the frame_id for the remove_object from panda_link0 to panda_hand .?

You are welcome. I've changed the frame_id for the remove_object and added the missing is_diff = true