diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp index eca4db4213b6bd4d167885e0bc4a1069aaa2b28e..fa3d0e37dc7d28c35fc074f33579fb945e878897 100644 --- a/src/impl/moveit_mediator.cpp +++ b/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); - } - } - } - - merge_acm(ps_m); - planning_scene_diff_publisher_->publish(ps_m); + // 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); }