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Add parameter default_planning_scene to load planning scene geometry on startup #2949

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pac48 committed Nov 5, 2024
commit 9b47cde3448b9a59ae6e7596be12963ee3ef8cd1
15 changes: 7 additions & 8 deletions moveit_ros/move_group/src/move_group.cpp
Original file line number Diff line number Diff line change
@@ -34,18 +34,17 @@

/* Author: Ioan Sucan */

#include <memory>
#include <set>

#include <boost/tokenizer.hpp>
#include <moveit/macros/console_colors.h>
#include <moveit/move_group/move_group_capability.h>
#include <moveit/move_group/move_group_context.h>
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <tf2_ros/transform_listener.h>
#include <moveit/move_group/move_group_capability.h>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
#include <boost/tokenizer.hpp>
#include <moveit/macros/console_colors.h>
#include <moveit/move_group/move_group_context.h>
#include <memory>
#include <set>
#include <moveit/utils/logger.hpp>
#include <tf2_ros/transform_listener.h>

static const std::string ROBOT_DESCRIPTION =
"robot_description"; // name of the robot description (a param name, so it can be changed externally)