From 0c43d3542870eab0e6f143ba81ddd02ab60378c1 Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Fri, 10 Feb 2023 01:30:13 +0100
Subject: [PATCH] ...

---
 src/bt/execution.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/bt/execution.cpp b/src/bt/execution.cpp
index ad9ecce..39b2611 100644
--- a/src/bt/execution.cpp
+++ b/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;
-- 
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