{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/82178224","pull_request_review_id":3094972,"id":82178224,"diff_hunk":"@@ -263,7 +263,24 @@ bool planning_scene_monitor::CurrentStateMonitor::haveCompleteState(const ros::D\n   return result;\n }\n \n-bool planning_scene_monitor::CurrentStateMonitor::waitForCurrentState(double wait_time) const\n+bool planning_scene_monitor::CurrentStateMonitor::waitForCurrentState(const ros::Time t, double wait_time) const\n+{\n+  ros::WallTime start = ros::WallTime::now();\n+  ros::WallDuration elapsed;\n+  ros::WallDuration timeout(wait_time);\n+\n+  boost::mutex::scoped_lock lock(state_update_lock_);\n+  while (current_state_time_ < t)\n+  {\n+    state_update_condition_.wait_for(lock, boost::chrono::nanoseconds((timeout-elapsed).toNSec()));\n+    elapsed = ros::WallTime::now() - start;\n+    if (elapsed > timeout)\n+      return false;\n+  }\n+  return true;\n+}\n+\n+bool planning_scene_monitor::CurrentStateMonitor::waitForCompleteState(double wait_time) const","path":"moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp","position":22,"original_position":22,"commit_id":"0d47df14e55f46e9a1dd1b7abd173b74deb9e2f1","original_commit_id":"d7b08aeed0cdc8f812e8d142ce17a6fdc020fd07","user":{"login":"davetcoleman","id":561060,"avatar_url":"https://avatars.githubusercontent.com/u/561060?v=3","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"body":"thinking about this more  - i really don't think this is a good idea. you are changing core functionality of a function in a public API that others might be using in their own projects (albeit maybe unlikely) in a way that is very non-obvious","created_at":"2016-10-06T12:40:38Z","updated_at":"2016-10-06T12:40:38Z","html_url":"https://github.com/ros-planning/moveit/pull/232#discussion_r82178224","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/232","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/82178224"},"html":{"href":"https://github.com/ros-planning/moveit/pull/232#discussion_r82178224"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/232"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/232","id":86065949,"html_url":"https://github.com/ros-planning/moveit/pull/232","diff_url":"https://github.com/ros-planning/moveit/pull/232.diff","patch_url":"https://github.com/ros-planning/moveit/pull/232.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/232","number":232,"state":"open","locked":false,"title":"fix race conditions when updating PlanningScene","user":{"login":"rhaschke","id":5376030,"avatar_url":"https://avatars.githubusercontent.com/u/5376030?v=3","gravatar_id":"","url":"https://api.github.com/users/rhaschke","html_url":"https://github.com/rhaschke","followers_url":"https://api.github.com/users/rhaschke/followers","following_url":"https://api.github.com/users/rhaschke/following{/other_user}","gists_url":"https://api.github.com/users/rhaschke/gists{/gist_id}","starred_url":"https://api.github.com/users/rhaschke/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rhaschke/subscriptions","organizations_url":"https://api.github.com/users/rhaschke/orgs","repos_url":"https://api.github.com/users/rhaschke/repos","events_url":"https://api.github.com/users/rhaschke/events{/privacy}","received_events_url":"https://api.github.com/users/rhaschke/received_events","type":"User","site_admin":false},"body":"After having merged #63 we can finally attempt to merge https://github.com/rhaschke/moveit/pull/1 against ros-planning/moveit. This PR attempts to fix https://github.com/ros-planning/moveit_ros/issues/442 and the flaky test mentioned in https://github.com/ros-planning/moveit/pull/221#issuecomment-248223570. This PR draws on reverted PRs https://github.com/ros-planning/moveit_ros/pull/716 https://github.com/ros-planning/moveit_ros/pull/724, and https://github.com/ros-planning/moveit_ros/pull/728.\r\n\r\n* I removed `AsyncSpinner` and `CallBackQueue` in `PlanningSceneMonitor` for now. With https://github.com/ros-planning/moveit_ros/pull/717 (#59) this is not required anymore to update the robot state. However `syncSceneUpdates()` relies on them, which is why I had to remove them for now too. It's anyway in discussion, whether this function is useful. I will file a separate PR for this.\r\n* I renamed `CurrentStateMonitor::waitForCurrentState()` and added a deprecated fallback function calling the new method `waitForCompleteState()`. Deprecation should be OK in Kinetic, but not Indigo and Jade. This should be considered when 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