Added compatibility with #602

moveit · Aug 13, 2015 · 389613b · 389613b
1 parent 1496260
commit 389613b
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -474,6 +474,7 @@ void planning_scene_monitor::PlanningSceneMonitor::clearOctomap()
   if (octomap_monitor_){
     occupancy_map_monitor::WriteLock lock = octomap_monitor_->writingMap();
     octomap_monitor_->getOcTreePtr()->clear();
+    octomap_monitor_->getOcTreePtr()->resetChangeDetection();
   }
 }
 
@@ -1063,6 +1064,7 @@ void planning_scene_monitor::PlanningSceneMonitor::octomapUpdateCallback()
   const Eigen::Affine3d rt = scene_->getCurrentState().getGlobalLinkTransform(robot_model_->getRootLinkName());
   {
     occupancy_map_monitor::WriteLock lock = octomap_monitor_->writingMap();
+    octomap_monitor_->getOcTreePtr()->enableChangeDetection(false);
     octomap_monitor_->getOcTreePtr()->setBBXCenter(rt.translation().x(), rt.translation().y(), rt.translation().z());
     octomap_monitor_->getOcTreePtr()->pruneBBX();
   }