Add distance to servo collision checker requests (#2511)

moveit · Nov 6, 2023 · 04e9c3e · 04e9c3e
1 parent ce240bd
commit 04e9c3e
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/moveit_ros/moveit_servo/src/collision_monitor.cpp b/moveit_ros/moveit_servo/src/collision_monitor.cpp
@@ -50,6 +50,11 @@ CollisionMonitor::CollisionMonitor(const planning_scene_monitor::PlanningSceneMo
   , planning_scene_monitor_(planning_scene_monitor)
   , collision_velocity_scale_(collision_velocity_scale)
 {
+  scene_collision_request_.distance = true;
+  scene_collision_request_.group_name = servo_params.move_group_name;
+
+  self_collision_request_.distance = true;
+  self_collision_request_.group_name = servo_params.move_group_name;
 }
 
 void CollisionMonitor::start()