robotStateMsgToRobotState: is_diff==true => not empty

In case the incoming RobotStateMsg is a diff, the joint fields are allowed to be empty. This is used to change attached objects.
KaihongYang · Aug 9, 2017 · 8db5eb0 · 8db5eb0
1 parent 7d36403
commit 8db5eb0
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
@@ -332,7 +332,7 @@ static bool _robotStateMsgToRobotStateHelper(const Transforms* tf, const moveit_
   bool valid;
   const moveit_msgs::RobotState& rs = robot_state;
 
-  if (rs.joint_state.name.empty() && rs.multi_dof_joint_state.joint_names.empty())
+  if (!rs.is_diff && rs.joint_state.name.empty() && rs.multi_dof_joint_state.joint_names.empty())
   {
     logError("Found empty JointState message");
     return false;