Silent error "Found empty JointState message"

moveit · Jul 18, 2024 · 4f69a22 · 4f69a22
1 parent 7631486
commit 4f69a22
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -170,8 +170,10 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		exec_traj.effect_on_success_ = [this,
 		                                &scene_diff = const_cast<::moveit_msgs::PlanningScene&>(sub_traj.scene_diff),
 		                                description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
+			// Never modify joint state directly (only via robot trajectories)
 			scene_diff.robot_state.joint_state = sensor_msgs::JointState();
 			scene_diff.robot_state.multi_dof_joint_state = sensor_msgs::MultiDOFJointState();
+			scene_diff.robot_state.is_diff = true;  // silent empty JointState msg error
 
 			if (!moveit::core::isEmpty(scene_diff)) {
 				ROS_DEBUG_STREAM_NAMED("ExecuteTaskSolution", "apply effect of " << description);