Henning Kayser

> It would be useful to be able to state `use a PlanningScene from this monitor which is at least as new as `. What would change compared to the...

@sampreets3 Sorry for the late reply. I assume you are using MoveGroupInterface? The [plan()](https://moveit.picknik.ai/humble/doc/examples/mobile_base_arm/mobile_base_arm_tutorial.html?highlight=mobile) function returns the robot trajectory with the [Plan](https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h#L112) struct. You can parse the RobotTrajectory values, your...

> @henningkayser , thanks for the reply. I did take a look at the Plan struct and examined the object returned for a standard planning problem _(i.e., one in which...

I'm closing this since the original purpose of this epic is fulfilled (identifying and removing stale, commented, unused code). There are still some ongoing refactorings that go beyond removal (random_numbers,...

Rewarming this... @rrufat did you come to any conclusions? MoveGroup is running MoveItCpp internally, so there must be something different on how the planning pipelines or requests are being initialized....

@peterdavidfagan did you already spent time on this? I agree that it's something that could have an effect on the GSoC project, but I'm not sure if we already have...

@mamoll can't we set the [image context ](https://github.blog/changelog/2021-11-24-specify-theme-context-for-images-in-markdown/) like here? https://raw.githubusercontent.com/lutzroeder/netron/main/README.md

Does MoveGroup receive the planning call and does it return a result?

What do you mean with "parallel with 'other things'"? Running MGI requests from multiple threads?

Ok, this is odd. I could reproduce this very easily, and indeed changing executor or callback group settings wouldn't fix this. However, moving MGI initialization before the SingleThreadedExecutor does the...