From 871a0659eafd216a64b360020fc8664ad5a83d44 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Wed, 12 Jun 2024 14:12:27 +0200
Subject: [PATCH] Add servo node config to disable advertising
 /get_planning_scene (#990) (#1018)

(cherry picked from commit 1baca120cb0f758ebf3e9712ef45e091a2b97dea)

Co-authored-by: Ruddick Lawrence <679360+mrjogo@users.noreply.github.com>
---
 ur_moveit_config/config/ur_servo.yaml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ur_moveit_config/config/ur_servo.yaml b/ur_moveit_config/config/ur_servo.yaml
index 980270242..3b1b0ba11 100644
--- a/ur_moveit_config/config/ur_servo.yaml
+++ b/ur_moveit_config/config/ur_servo.yaml
@@ -32,6 +32,12 @@ 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.