From f8844c009bc413a4612e0792a391b46454423159 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 12 Mar 2024 21:40:09 +0100 Subject: [PATCH] Revert "Fix generation of Solution msg: consider backward operation" This reverts commit 4aac679257fb91bed9174096761879d1f14182fc, because MoveIt2 is missing a port of https://github.com/ros-planning/moveit/pull/3538. --- core/src/storage.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/core/src/storage.cpp b/core/src/storage.cpp index b4ad597cc..3ce72e032 100644 --- a/core/src/storage.cpp +++ b/core/src/storage.cpp @@ -240,10 +240,7 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::msg::Solution& msg, I if (trajectory()) trajectory()->getRobotTrajectoryMsg(t.trajectory); - if (this->end()->scene()->getParent() == this->start()->scene()) - this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff); - else - this->end()->scene()->getPlanningSceneMsg(t.scene_diff); + this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff); } double SubTrajectory::computeCost(const CostTerm& f, std::string& comment) const {