...

src/bt/execution.cpp

@@ -23,6 +23,12 @@ BT::NodeStatus Execution::tick() {
 BT::NodeStatus Execution::onStart(){
     if (it_ != ets_.solution.sub_trajectory.end()){
         std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(it_->trajectory, it_->scene_diff);
+        for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_names) ROS_INFO("%s", e.c_str());
+	    for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_values) {
+		for (auto en: e.enabled){
+			ROS_INFO("%f", en);
+		}
+	}
         executions_->insert_or_assign(mr_reference_->name(), pair);
         it_++;
         return BT::NodeStatus::RUNNING;