From dd6f6831fca2e8f190a574a6bd3fe15183ce5aae Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Mon, 23 Oct 2023 18:35:12 +0200 Subject: [PATCH] Add explanation for scene reset --- core/src/task.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/core/src/task.cpp b/core/src/task.cpp index cafc2cda8..3e8d3715f 100644 --- a/core/src/task.cpp +++ b/core/src/task.cpp @@ -281,7 +281,8 @@ moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) { moveit_task_constructor_msgs::action::ExecuteTaskSolution::Goal goal; s.toMsg(goal.solution, pimpl()->introspection_.get()); - // Reset joint values in scene diff + // Reset joint values in scene diff to prevent any execution capability from + // modifying the planning scene joint values for (auto& sub_trajectory : goal.solution.sub_trajectory) { sub_trajectory.scene_diff.robot_state.joint_state = sensor_msgs::msg::JointState(); sub_trajectory.scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::msg::MultiDOFJointState();