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Start servo's world geometry monitor
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amalnanavati committed Dec 13, 2023
1 parent a787972 commit b2c3db7
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1 change: 1 addition & 0 deletions moveit_ros/moveit_servo/src/utils/common.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -400,6 +400,7 @@ planning_scene_monitor::PlanningSceneMonitorPtr createPlanningSceneMonitor(const

planning_scene_monitor->startStateMonitor(servo_params.joint_topic);
planning_scene_monitor->startSceneMonitor(servo_params.monitored_planning_scene_topic);
planning_scene_monitor_->startWorldGeometryMonitor();
planning_scene_monitor->setPlanningScenePublishingFrequency(25);
planning_scene_monitor->getStateMonitor()->enableCopyDynamics(true);
planning_scene_monitor->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
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