From 38c1fd00ad60fb3a58608d111c4213ebcc4fa109 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Tue, 6 Aug 2024 15:13:19 +0200
Subject: [PATCH] Don't set reset observer callback & set CB after world_ is
 initialized (#2950)

---
 moveit_core/planning_scene/src/planning_scene.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 0b955ac888..8655117fb8 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -212,12 +212,12 @@ PlanningScene::PlanningScene(const PlanningSceneConstPtr& parent) : parent_(pare
 
   setStateFeasibilityPredicate(parent->getStateFeasibilityPredicate());
   setMotionFeasibilityPredicate(parent->getMotionFeasibilityPredicate());
-  setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);
 
   // maintain a separate world.  Copy on write ensures that most of the object
   // info is shared until it is modified.
   world_ = std::make_shared<collision_detection::World>(*parent_->world_);
   world_const_ = world_;
+  setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);
 
   // record changes to the world
   world_diff_ = std::make_shared<collision_detection::WorldDiff>(world_);
@@ -1214,9 +1214,6 @@ void PlanningScene::decoupleParent()
         (object_types_.value())[it->first] = it->second;
     }
   }
-
-  setCollisionObjectUpdateCallback(nullptr);
-
   parent_.reset();
 }