From a812d576706af77f33ded6a7b7f1144661aa4221 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 10 May 2024 15:28:12 +0200 Subject: [PATCH] Make `moveit_servo` listen to Octomap updates (backport #2601) (#2606) --------- Co-authored-by: Amal Nanavati (cherry picked from commit 87d594540308d682b4b20ff4c0e967db5e7b7739) --- moveit_ros/moveit_servo/src/servo_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_ros/moveit_servo/src/servo_node.cpp b/moveit_ros/moveit_servo/src/servo_node.cpp index e93aaee9d8..f7b77aa8c8 100644 --- a/moveit_ros/moveit_servo/src/servo_node.cpp +++ b/moveit_ros/moveit_servo/src/servo_node.cpp @@ -90,6 +90,7 @@ ServoNode::ServoNode(const rclcpp::NodeOptions& options) node_, robot_description_name, "planning_scene_monitor"); planning_scene_monitor_->startStateMonitor(servo_parameters->joint_topic); planning_scene_monitor_->startSceneMonitor(servo_parameters->monitored_planning_scene_topic); + planning_scene_monitor_->startWorldGeometryMonitor(); planning_scene_monitor_->setPlanningScenePublishingFrequency(25); planning_scene_monitor_->getStateMonitor()->enableCopyDynamics(true); planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,