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Fix RViz Cartesian execute crash under sim-time mismatch #3722

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Fix RViz Cartesian execute crash under sim-time mismatch #3722

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2 changes: 1 addition & 1 deletion moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -151,7 +151,7 @@ bool MotionPlanningFrame::computeCartesianPlan()
// Compute time parameterization to also provide velocities
// https://groups.google.com/forum/#!topic/moveit-users/MOoFxy2exT4
robot_trajectory::RobotTrajectory rt(move_group_->getRobotModel(), move_group_->getName());
rt.setRobotTrajectoryMsg(*move_group_->getCurrentState(), trajectory);
rt.setRobotTrajectoryMsg(planning_display_->getPlanningSceneRO()->getCurrentState(), trajectory);
trajectory_processing::TimeOptimalTrajectoryGeneration time_parameterization;
bool success = time_parameterization.computeTimeStamps(rt, ui_->velocity_scaling_factor->value(),
ui_->acceleration_scaling_factor->value());
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