Use message, not hash for comparison in OMPL planner #266
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| { | ||
| const auto &scene_id = scene->getKey(); | ||
| const auto &request_hash = IO::getMessageMD5(request); | ||
| moveit_msgs::PlanningScene scene_msg = scene->getMessage(); |
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I think keeping the ID here would be more preferable. I am afraid that recomputing the scene message every time will incur a high-cost for big scenes that are represented as octomaps.
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@ChamzasKonstantinos comment address, please review |
ChamzasKonstantinos
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Nov 3, 2021
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Should be ok now, just another comment
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Hey @werner291 can you confirm that this solves your issue? |
ChamzasKonstantinos
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Aug 1, 2022
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Looks good, probably should merge
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Fixes #256 from @werner291