Overlapping move-groups don't share state

[dsandber]

Because of this issue:

moveit/moveit#3161

I have multiple move-groups.

MoveGroup #1 contains joints A and B.

MoveGroup #2 contains joint A.

Querying RobotState through MoveGroup #1 will give different positions than querying RobotState through MoveGroup #2, depending on which move-group the last move was done through,

There should be some kind of shared state for joint positions, so that the joint position is reported accurately no matter which joint group it is queried through.

Your environment

• ROS Distro: Iron

[dsandber]

This ticket was based on my misunderstanding of RobotState -- I didn't realize you need to retrieve the state from the planning scene for it to be accurate.