Added compatibility with moveit#602

TheBrewCrew · Aug 13, 2015 · 3796a55 · 3796a55
1 parent 6a2cd9f
commit 3796a55
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
@@ -473,6 +473,7 @@ void planning_scene_monitor::PlanningSceneMonitor::clearOctomap()
 {
   occupancy_map_monitor::WriteLock lock = octomap_monitor_->writingMap();
   octomap_monitor_->getOcTreePtr()->clear();
+  octomap_monitor_->getOcTreePtr()->resetChangeDetection();
 }
 
 void planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage(const moveit_msgs::PlanningScene& scene)
@@ -1067,6 +1068,7 @@ 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();
   }