Apply the custom start joint state to the request#109
Merged
AndrejOrsula merged 2 commits intoAndrejOrsula:mainfrom Aug 27, 2025
Merged
Apply the custom start joint state to the request#109AndrejOrsula merged 2 commits intoAndrejOrsula:mainfrom
AndrejOrsula merged 2 commits intoAndrejOrsula:mainfrom
Conversation
AndrejOrsula
requested changes
Aug 27, 2025
Owner
AndrejOrsula
left a comment
AndrejOrsula
left a comment
There was a problem hiding this comment.
Thank you, @mfinean, for your contribution. Yes, that makes sense!
Could you please run it through pre-commit (suggestion above), as I don't have permission to edit your branch? Thanks.
Co-authored-by: Andrej Orsula <orsula.andrej@gmail.com>
Contributor
Author
Yes, sure! I applied your suggestion. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Currently, even when a
custom_start_stateis passed, theMotionPlanRequest.start_stateis left unset, causing MoveIt to see an empty start state and fall back to the planning scene’s current state.This patch ensures that
plan_asyncexplicitly assigns the providedstart_joint_state(or defaults to the latest observed joint state), so requests now include the intended start state and avoid adaptor warnings.Testing this resulted in our plans working as expected when providing a custom start state.