MoveIt/OMPL does collision checking in the background ?!?
Hi guys, I am currently working as part of my master thesis on my own motion planner which I am implementing in OMPL. To debug some problems I had, I started to print within MoveIt in the state_validity_checker.cpp in the isValid method before each return what it returns and why the method is returning (e.g. if state was already known, then I print "State marked as Invalid.". Everything fine with this.
However, I produced accidentally an infinite loop in my motion planner at a point where there are no collision checks done with the state_validity_checker. But by running my code I still got my prints from the state_validity_checker doing checks. After some confusion and testing around I had to come to the conclusion, that those collision checks, which were producing the prints in my console, are not coming from my motion planner/code.
So my question is: Does anyone know if MoveIt or OMPL is running by default another thread in the background which is doin periodically collision checks for whatever reason?
