MoveIt Servo should respect the AllowedCollisionMatrix

personalrobotics · Dec 14, 2023 · 2da3b71 · 2da3b71
1 parent a787972
commit 2da3b71
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/moveit_ros/moveit_servo/src/collision_monitor.cpp b/moveit_ros/moveit_servo/src/collision_monitor.cpp
@@ -114,8 +114,8 @@ void CollisionMonitor::checkCollisions()
 
       // Check collision with environment.
       scene_collision_result_.clear();
-      locked_scene->getCollisionEnv()->checkRobotCollision(scene_collision_request_, scene_collision_result_,
-                                                           *robot_state_);
+      locked_scene->getCollisionEnv()->checkRobotCollision(
+        scene_collision_request_, scene_collision_result_, *robot_state_, locked_scene->getAllowedCollisionMatrix());
 
       // Check robot self collision.
       self_collision_result_.clear();