From e720b9cff920be0b255cd6a1be7cf63a1c3efc84 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 13 Jul 2022 13:28:33 +0200
Subject: [PATCH] minor
---
.../navigation/server/scene_provider/SceneProvider.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/server/scene_provider/SceneProvider.cpp b/source/armarx/navigation/server/scene_provider/SceneProvider.cpp
index 04412bb3..804c4d03 100644
--- a/source/armarx/navigation/server/scene_provider/SceneProvider.cpp
+++ b/source/armarx/navigation/server/scene_provider/SceneProvider.cpp
@@ -1,6 +1,7 @@
#include "SceneProvider.h"
#include <VirtualRobot/SceneObjectSet.h>
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include <armarx/navigation/algorithms/CostmapBuilder.h>
#include <armarx/navigation/util/util.h>
@@ -25,7 +26,8 @@ namespace armarx::navigation::server::scene_provider
scn.timestamp = timestamp;
scn.robot = srv.virtualRobotReader->getRobot(
- config.robotName, timestamp, VirtualRobot::RobotIO::RobotDescription::eStructure);
+ config.robotName, timestamp, VirtualRobot::RobotIO::RobotDescription::eCollisionModel);
+ ARMARX_CHECK_NOT_NULL(scn.robot);
scn.staticScene = getStaticScene(timestamp);
scn.dynamicScene = getDynamicScene(timestamp);
@@ -43,7 +45,7 @@ namespace armarx::navigation::server::scene_provider
srv.virtualRobotReader->synchronizeRobot(*scn.robot, timestamp);
scn.dynamicScene = getDynamicScene(timestamp);
- scn.graph = getSceneGraph(timestamp);
+ // scn.graph = getSceneGraph(timestamp);
return true; // TODO(fabian.reister): return false if sync fails
}
--
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