Remove collision objects as final step

[tylerjw]

Signed-off-by: Tyler Weaver [email protected]

This is useful because if you write a stage that detaches and removes an object it does not perform as you'd expect.

[rhaschke]

@tylerjw, could you please explain the issue solved by this PR in more detail? I don't yet see the actual difference to the previous code, except that objects are removed after ACM edits. However, I don't see a reason for this yet.

[codecov[bot]]

Codecov Report

Merging #374 (d80202e) into ros2 (3b438f9) will decrease coverage by 0.02%. The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             ros2     #374      +/-   ##
==========================================
- Coverage   42.11%   42.10%   -0.01%     
==========================================
  Files          78       78              
  Lines        7768     7770       +2     
==========================================
  Hits         3271     3271              
- Misses       4497     4499       +2     

Impacted Files	Coverage Δ
...it/task_constructor/stages/modify_planning_scene.h	90.00% <ø> (ø)
core/src/stages/modify_planning_scene.cpp	8.46% <0.00%> (-0.24%)	:arrow_down:

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[rhaschke]

@tylerjw, could you please explain the issue solved by this PR in more detail?

Ping, @tylerjw.

[tylerjw]

I'm sorry, I don't remember why I did this. I only remember doing this on a previous project. You are welcome to close this PR, as I don't remember the context of it well enough to explain it. I'm sorry I didn't leave more information in the description.

[rhaschke]

Hm. In that case, I suggest to close the PR for now...