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[Backport of #2222]: Skip joints not belonging to RobotModel #3634

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Merged
stephanie-eng merged 2 commits into from
Dec 12, 2025
Merged

[Backport of #2222]: Skip joints not belonging to RobotModel #3634

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[Backport of #2222]: Skip joints not belonging to RobotModel
mfruhner Dec 9, 2025
fe00f83
clang format
mfruhner Dec 11, 2025
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6 changes: 6 additions & 0 deletions moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -332,6 +332,12 @@ void CurrentStateMonitor::jointStateCallback(const sensor_msgs::msg::JointState:
current_state_time_ = joint_state->header.stamp;
for (std::size_t i = 0; i < n; ++i)
{
// Skip joints that don't belong to the RobotModel
if (!robot_model_->hasJointModel(joint_state->name[i]))
{
continue;
}

const moveit::core::JointModel* jm = robot_model_->getJointModel(joint_state->name[i]);
if (!jm)
continue;
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