Merge branch 'main' into fix-tutorial-docker-build

moveit · Aug 6, 2024 · 530577b · 530577b
2 parents 23e0889 + 38c1fd0
commit 530577b
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -212,12 +212,12 @@ PlanningScene::PlanningScene(const PlanningSceneConstPtr& parent) : parent_(pare
 
   setStateFeasibilityPredicate(parent->getStateFeasibilityPredicate());
   setMotionFeasibilityPredicate(parent->getMotionFeasibilityPredicate());
-  setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);
 
   // maintain a separate world.  Copy on write ensures that most of the object
   // info is shared until it is modified.
   world_ = std::make_shared<collision_detection::World>(*parent_->world_);
   world_const_ = world_;
+  setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);
 
   // record changes to the world
   world_diff_ = std::make_shared<collision_detection::WorldDiff>(world_);
@@ -1214,9 +1214,6 @@ void PlanningScene::decoupleParent()
         (object_types_.value())[it->first] = it->second;
     }
   }
-
-  setCollisionObjectUpdateCallback(nullptr);
-
   parent_.reset();
 }
 

diff --git a/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp b/moveit_py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp
@@ -171,7 +171,7 @@ void initMoveitPy(py::module& m)
            Returns the planning scene monitor.
            )")
 
-      .def("get_trajactory_execution_manager", &moveit_cpp::MoveItCpp::getTrajectoryExecutionManagerNonConst,
+      .def("get_trajectory_execution_manager", &moveit_cpp::MoveItCpp::getTrajectoryExecutionManagerNonConst,
            py::return_value_policy::reference,
            R"(
            Returns the trajectory execution manager.