[wip] Fix duplicate scenes in Solution.msg in forward planning #639
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captain-yoshi
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Fixes #638.
I'm not sure if this has other implications.
EDIT
Actually that is currently my problem as I have multiple meshes. While it adds only 17ms, this will be passed to the controller which will add more CPU time. And finally, I recompute the PlanningScene object from the msg, in a queue, to be able to set the planning scene (FixedState stage) for subsequent MTC Tasks. Without this fix I loose 3 seconds from applying the scene msg diff that is already up to date.