Make moveit_servo listen to Octomap updates (backport #2601) (#2607)

Co-authored-by: Amal Nanavati <amaln@cs.washington.edu> (cherry picked from commit 87d5945) Co-authored-by: Amal Nanavati <amaln@uw.edu>
moveit · Dec 15, 2023 · 38cee78 · 38cee78
1 parent e3b91cd
commit 38cee78
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/moveit_ros/moveit_servo/src/utils/common.cpp b/moveit_ros/moveit_servo/src/utils/common.cpp
@@ -336,6 +336,7 @@ planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor(const
 
   planning_scene_monitor->startStateMonitor(servo_params.joint_topic);
   planning_scene_monitor->startSceneMonitor(servo_params.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,