Make adding mesh optional to motion planning

BryanMqz · May 29, 2024 · d85d2a6 · d85d2a6
1 parent ae91234
commit d85d2a6
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/snp_motion_planning/src/planning_server.cpp b/snp_motion_planning/src/planning_server.cpp
@@ -571,7 +571,8 @@ class PlanningServer
       tesseract_planning::CompositeInstruction program = createProgram(manip_info, fromMsg(req->tool_paths));
 
       // Add the scan link to the planning environment
-      addScanLink(req->mesh_filename, req->mesh_frame);
+      if (!req->mesh_filename.empty())
+        addScanLink(req->mesh_filename, req->mesh_frame);
 
       // Invoke the planner
       auto pd = createProfileDictionary();
@@ -649,7 +650,8 @@ class PlanningServer
                                               tesseract_planning::MoveInstructionType::FREESPACE, PROFILE, manip_info));
 
       // Add the scan link to the planning environment
-      addScanLink(req->mesh_filename, req->mesh_frame);
+      if (!req->mesh_filename.empty())
+        addScanLink(req->mesh_filename, req->mesh_frame);
 
       // Invoke the planner
       auto pd = createProfileDictionary();

diff --git a/snp_msgs/srv/GenerateFreespaceMotionPlan.srv b/snp_msgs/srv/GenerateFreespaceMotionPlan.srv
@@ -9,7 +9,7 @@ sensor_msgs/JointState js2
 
 # Mesh - this is the scanned mesh which toolpaths were generated on.  Any path generated should be
 # checked for collision against this mesh to ensure we don't hit it by mistake.
-string mesh_filename
+string mesh_filename # Optional - If left empty then no mesh will be added
 string mesh_frame
 
 ---

diff --git a/snp_msgs/srv/GenerateMotionPlan.srv b/snp_msgs/srv/GenerateMotionPlan.srv
@@ -12,7 +12,7 @@ string tcp_frame
 
 # Mesh - this is the scanned mesh which toolpaths were generated on.  Any path generated should be
 # checked for collision against this mesh to ensure we don't hit it by mistake.
-string mesh_filename
+string mesh_filename # Optional - If left empty then no mesh will be added
 string mesh_frame
 
 ---