Grab tf2 Buffer from RViz FrameManager

moveit · Apr 20, 2018 · 2da2c8d · 2da2c8d
1 parent 618e530
commit 2da2c8d
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Showing 2 changed files with 2 additions and 10 deletions.
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
@@ -301,12 +301,8 @@ void MotionPlanningFrame::changePlanningGroupHelper()
     opt.node_handle_ = ros::NodeHandle(planning_display_->getMoveGroupNS());
     try
     {
-      // FIXME!(imcmahon) this forces the Planning Scene Monitor to allocate a new tf2_ros::Buffer
-      // and tf2_ros::TransformListener  on each invocation. These instances are properly deleted on exit,
-      // but it would be better to remove the null shared pointer once tf2_ros::Buffer is exposed from
-      // RViz with something like context_->getFrameManager()->getTFClientPtr()
       move_group_.reset(new moveit::planning_interface::MoveGroupInterface(
-          opt, std::shared_ptr<tf2_ros::Buffer>(), ros::WallDuration(30, 0)));
+          opt, context_->getFrameManager()->getTFBufferPtr(), ros::WallDuration(30, 0)));
       if (planning_scene_storage_)
         move_group_->setConstraintsDatabase(ui_->database_host->text().toStdString(), ui_->database_port->value());
     }

diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
@@ -486,12 +486,8 @@ void PlanningSceneDisplay::unsetLinkColor(rviz::Robot* robot, const std::string&
 // ******************************************************************************************
 planning_scene_monitor::PlanningSceneMonitorPtr PlanningSceneDisplay::createPlanningSceneMonitor()
 {
-  // FIXME!(imcmahon) this forces the Planning Scene Monitor to allocate a new tf2_ros::Buffer
-  // and tf2_ros::TransformListener  on each invocation. These instances are properly deleted on exit,
-  // but it would be better to remove the null shared pointer once tf2_ros::Buffer is exposed from
-  // RViz with something like context_->getFrameManager()->getTFClientPtr()
   return planning_scene_monitor::PlanningSceneMonitorPtr(new planning_scene_monitor::PlanningSceneMonitor(
-      robot_description_property_->getStdString(), std::shared_ptr<tf2_ros::Buffer>(),
+      robot_description_property_->getStdString(), context_->getFrameManager()->getTFBufferPtr(),
       getNameStd() + "_planning_scene_monitor"));
 }