From 18472ccdbcbe6d8dc9e5f645ed5cd462e8287006 Mon Sep 17 00:00:00 2001
From: Ruddick Lawrence <679360+mrjogo@users.noreply.github.com>
Date: Sat, 11 May 2024 11:30:30 -0700
Subject: [PATCH] Add servo node config to disable advertising
 /get_planning_scene

---
 ur_moveit_config/config/ur_servo.yaml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ur_moveit_config/config/ur_servo.yaml b/ur_moveit_config/config/ur_servo.yaml
index c49dc5612..43a99185d 100644
--- a/ur_moveit_config/config/ur_servo.yaml
+++ b/ur_moveit_config/config/ur_servo.yaml
@@ -32,6 +32,11 @@ publish_joint_accelerations: false
 ## Plugins for smoothing outgoing commands
 smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
 
+# If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
+# which other nodes can use as a source for information about the planning environment.
+# NOTE: If a different node in your system is responsible for the "primary" planning scene instance (e.g. the MoveGroup node),
+# then is_primary_planning_scene_monitor needs to be set to false.
+is_primary_planning_scene_monitor: false
 
 ## Incoming Joint State properties
 low_pass_filter_coeff: 10.0  # Larger --> trust the filtered data more, trust the measurements less.