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Update current state even if servo is paused (backport #3341) #3347

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merged 2 commits into from
Feb 15, 2025
Merged

Update current state even if servo is paused (backport #3341) #3347

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7f6b358
Update current state even if servo is paused (#3341)
pac48 Feb 15, 2025
be86c31
Merge branch 'jazzy' into mergify/bp/jazzy/pr-3341
sea-bass Feb 15, 2025
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2 changes: 1 addition & 1 deletion moveit_ros/moveit_servo/src/servo_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,7 @@ void ServoNode::pauseServo(const std::shared_ptr<std_srvs::srv::SetBool::Request
response->message = message;
return;
}
std::lock_guard<std::mutex> lock_guard(lock_);
servo_paused_ = request->data;
response->success = (servo_paused_ == request->data);
if (servo_paused_)
Expand All @@ -164,7 +165,6 @@ void ServoNode::pauseServo(const std::shared_ptr<std_srvs::srv::SetBool::Request
}
else
{
std::lock_guard<std::mutex> lock_guard(lock_);
// Reset the smoothing plugin with the robot's current state in case the robot moved between pausing and unpausing.
last_commanded_state_ = servo_->getCurrentRobotState(true /* block for current robot state */);
servo_->resetSmoothing(last_commanded_state_);
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