compatibility to MoveIt master branch

Author: rhaschke

core/CMakeLists.txt

@@ -33,6 +33,15 @@ else ()
 	set(CMAKE_CXX_STANDARD 14)
 endif ()
 
+# check for MOVEIT_MASTER
+include(CheckIncludeFileCXX)
+set(CMAKE_REQUIRED_INCLUDES ${moveit_core_INCLUDE_DIRS})
+CHECK_INCLUDE_FILE_CXX(moveit/collision_detection/collision_env.h MOVEIT_MASTER)
+if(NOT MOVEIT_MASTER)
+  set(MOVEIT_MASTER 0)
+endif()
+add_definitions(-DMOVEIT_MASTER=${MOVEIT_MASTER})
+
 set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/moveit/task_constructor)
 
 add_subdirectory(src)

core/src/stages/fix_collision_objects.cpp

@@ -110,8 +110,13 @@ SubTrajectory FixCollisionObjects::fixCollisions(planning_scene::PlanningScene&
 	bool failure = false;
 	while (!failure) {
 		res.clear();
+#if MOVEIT_MASTER
+		scene.getCollisionEnv()->checkRobotCollision(req, res, scene.getCurrentState(),
+		                                             scene.getAllowedCollisionMatrix());
+#else
 		scene.getCollisionWorld()->checkRobotCollision(req, res, *scene.getCollisionRobotUnpadded(),
 		                                               scene.getCurrentState(), scene.getAllowedCollisionMatrix());
+#endif
 		if (!res.collision)
 			return result;