...

src/impl/moveit_mediator.cpp

@@ -908,18 +908,18 @@ void Moveit_mediator::task_planner(){
 			if(t.joinable()) t.join();
 		}
 
-		for(auto& exec : executions_){
-			for (int i = 0; i < robots_.size(); i++){
-				if (exec.first == robots_[i]->name()){
-					auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
-					manipulate_acm(mr, exec.second.second);
-					merge_ps(ps_m, exec.second.second, mr);
-				}
-			}
-		}
+		// for(auto& exec : executions_){
+		// 	for (int i = 0; i < robots_.size(); i++){
+		// 		if (exec.first == robots_[i]->name()){
+		// 			auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);
+		// 			manipulate_acm(mr, exec.second.second);
+		// 			merge_ps(ps_m, exec.second.second, mr);
+		// 		}
+		// 	}
+		// }
 
-		merge_acm(ps_m);
-		planning_scene_diff_publisher_->publish(ps_m);
+		// merge_acm(ps_m);
+		// planning_scene_diff_publisher_->publish(ps_m);
 	}