Use message, not hash for comparison in OMPL planner #266
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| @@ -102,11 +102,16 @@ void OMPL::OMPLInterfacePlanner::refreshContext(const SceneConstPtr &scene, | |||
| const planning_interface::MotionPlanRequest &request, | |||
| bool force) const | |||
| { | |||
| const auto &scene_id = scene->getKey(); | |||
| const auto &request_hash = IO::getMessageMD5(request); | |||
| moveit_msgs::PlanningScene scene_msg = scene->getMessage(); | |||
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I think keeping the ID here would be more preferable. I am afraid that recomputing the scene message every time will incur a high-cost for big scenes that are represented as octomaps.
|
@ChamzasKonstantinos comment address, please review |
ChamzasKonstantinos
requested changes
Nov 3, 2021
|
Hey @werner291 can you confirm that this solves your issue? |
ChamzasKonstantinos
approved these changes
Aug 1, 2022
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Fixes #256 from @werner291