Reinstate Humble Compatibility for GetCartesianPath & Expose planning_scene To User#66
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AndrejOrsula merged 2 commits intoAndrejOrsula:develfrom May 7, 2024
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Thanks a lot, @amalnanavati! Looks good to me. 🙂
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…ing_scene` To User (#66) * Reinstate Humble compatibility for GetCartesianPath * Expose planning scene to user
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This PR makes two small changes:
GetCartesianPathparameters added in Added setting of cartesian speed and acceleration #53 exist in Iron but not in Humble. This PR fixes that by checking if those attributes exist before assigning them.MoveIt2had the ability to get and access the latest planning scene, that was not exposed to users. this PR addresses that.(I'm happy to separate this into two PRs if you prefer -- I made it a joint PR for now given how small each change is.)