MoveItPy overrides planning scene

[christian-rauch]

Description

Instantiating MoveItPy overrides a previously published planning scene.

Your environment

• ROS Distro: Humble with moveit 2.8 from source
• OS Version: Ubuntu 22.04
• Source or Binary build? both
• If binary, which release version?
• If source, which branch? 2.8
• Which RMW (Fast DDS or Cyclone DDS)? Cyclone.

Steps to reproduce

1. ros2 launch franka_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true
2. add a collision object in RViz under Scene Objects and Publish
3. construct a MoveItPy with the motion_planning_python_api_tutorial.yaml from the tutorials and monitored_planning_scene_topic: "/monitored_planning_scene":

   #!/usr/bin/env python3
   from moveit.planning import MoveItPy
   from moveit_configs_utils import MoveItConfigsBuilder
   import os
   if __name__ == '__main__':
       # https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/main/doc/examples/motion_planning_python_api/config/motion_planning_python_api_tutorial.yaml
       # monitored_planning_scene_topic: "/monitored_planning_scene"
       moveit_cfg_dict = MoveItConfigsBuilder(
           robot_name="panda", package_name="moveit_resources_panda_moveit_config")\
           .moveit_cpp(file_path=os.path.join(os.getcwd(), "motion_planning_python_api_tutorial.yaml"))\
           .to_moveit_configs().to_dict()
       moveit = MoveItPy(node_name="moveit_python", config_dict=moveit_cfg_dict)
   

Expected behaviour

The Python bindings should behave like the C++ API and not change the already published scene.

Actual behaviour

The Python bindings publish an empty planning scene on /monitored_planning_scene, overriding the previously defined collision objects. This does not happen with the C++ API.

[wei1224hf]

How you install the MoveItPy with ROS2 humble ?

[christian-rauch]

How you install the MoveItPy with ROS2 humble ?

Compile from source.

[peterdavidfagan]

Hi @christian-rauch,

Thanks for posting this issue, I'll try to find time to investigate this bug further.

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.