Added is 'is_diff = true' to fix detaching bug in moveit tutorial. (m…

…oveit#115)
Layne-Wang · Sep 11, 2017 · 2a00381 · 2a00381
1 parent 6516e1c
commit 2a00381
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/doc/pr2_tutorials/planning/src/planning_scene_ros_api_tutorial.cpp b/doc/pr2_tutorials/planning/src/planning_scene_ros_api_tutorial.cpp
@@ -193,8 +193,10 @@ int main(int argc, char **argv)
   ROS_INFO("Detaching the object from the robot and returning it to the world.");
   planning_scene.robot_state.attached_collision_objects.clear();
   planning_scene.robot_state.attached_collision_objects.push_back(detach_object);
+  planning_scene.robot_state.is_diff = true;
   planning_scene.world.collision_objects.clear();
   planning_scene.world.collision_objects.push_back(attached_object.object);
+  planning_scene.is_diff = true;
   planning_scene_diff_publisher.publish(planning_scene);
 
   sleep_time.sleep();