From 055dbc0359ea4a6fe03238ed9c89cf23bd618574 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Sun, 22 Oct 2023 12:45:08 -0500
Subject: [PATCH] Don't reset the smoother_ every time

---
 moveit_ros/moveit_servo/src/servo.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
index d09a4869a3d..53344da68d0 100644
--- a/moveit_ros/moveit_servo/src/servo.cpp
+++ b/moveit_ros/moveit_servo/src/servo.cpp
@@ -460,7 +460,6 @@ KinematicState Servo::getNextJointState(const ServoInput& command)
     // Update filter state and apply filtering in position domain
     if (smoother_)
     {
-      smoother_->reset(current_state.positions, current_state.velocities, current_state.accelerations);
       smoother_->doSmoothing(target_state.positions, target_state.velocities, target_state.accelerations);
     }