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Fix planning_scene_monitor sync when passed empty robot state (backport #3187) #3204

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merged 1 commit into from
Jan 7, 2025
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Fix planning_scene_monitor sync when passed empty robot state (backport #3187) #3204

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15 changes: 15 additions & 0 deletions moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -740,6 +740,21 @@ bool PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::msg::Plann

if (!scene.is_diff && parent_scene_)
{
// if the scene does not contain a robot state then use the latest known values for the robot state
// so that we are not updating the scene with stale values.
if (scene.robot_state.joint_state.name.empty())
{
// if we have a valid current_state_monitor_ with complete state use the latest data otherwise try
// to use the maintained (diff) scene_ which may fall back to the parent_scene_ data and not update.
if (current_state_monitor_ && current_state_monitor_->haveCompleteState())
{
parent_scene_->setCurrentState(*current_state_monitor_->getCurrentState());
}
else
{
parent_scene_->setCurrentState(scene_->getCurrentState());
}
}
// clear maintained (diff) scene_ and set the full new scene in parent_scene_ instead
scene_->clearDiffs();
result = parent_scene_->setPlanningSceneMsg(scene);
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