{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/181595735","pull_request_review_id":112250067,"id":181595735,"diff_hunk":"@@ -199,6 +199,12 @@ MotionPlanningFrame::~MotionPlanningFrame()\n \n void MotionPlanningFrame::approximateIKChanged(int state)\n {\n+  // This is needed to prevent UI event (resuming the options) triggered\n+  // before query_start_state_ and query_goal_state_ is ready\n+  if (first_time_)\n+  {\n+    return;\n+  }\n   planning_display_->useApproximateIK(state == Qt::Checked);","path":"moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp","position":10,"original_position":10,"commit_id":"072944767e6734a2df2da7b02396c27001d5974a","original_commit_id":"072944767e6734a2df2da7b02396c27001d5974a","user":{"login":"rhaschke","id":5376030,"avatar_url":"https://avatars2.githubusercontent.com/u/5376030?v=4","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":"What happens, if this is called when `first_time_` is `true`?","created_at":"2018-04-15T20:24:22Z","updated_at":"2018-04-15T20:24:32Z","html_url":"https://github.com/ros-planning/moveit/pull/841#discussion_r181595735","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/841","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/181595735"},"html":{"href":"https://github.com/ros-planning/moveit/pull/841#discussion_r181595735"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/841"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/841","id":181633205,"html_url":"https://github.com/ros-planning/moveit/pull/841","diff_url":"https://github.com/ros-planning/moveit/pull/841.diff","patch_url":"https://github.com/ros-planning/moveit/pull/841.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/841","number":841,"state":"open","locked":false,"title":"MotionPlanningRvizPlugin: Save and resume approximate_IK UI setting","user":{"login":"phy25","id":331403,"avatar_url":"https://avatars0.githubusercontent.com/u/331403?v=4","gravatar_id":"","url":"https://api.github.com/users/phy25","html_url":"https://github.com/phy25","followers_url":"https://api.github.com/users/phy25/followers","following_url":"https://api.github.com/users/phy25/following{/other_user}","gists_url":"https://api.github.com/users/phy25/gists{/gist_id}","starred_url":"https://api.github.com/users/phy25/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/phy25/subscriptions","organizations_url":"https://api.github.com/users/phy25/orgs","repos_url":"https://api.github.com/users/phy25/repos","events_url":"https://api.github.com/users/phy25/events{/privacy}","received_events_url":"https://api.github.com/users/phy25/received_events","type":"User","site_admin":false},"body":"### Description\r\n\r\nIn MotionPlanningRvizPlugin, the state of approximate_IK UI checkbox cannot be kept across sessions now. This patch adds the saving and resuming functionality. The slot function adds a init check, to prevent processing before `query_start_state_` and `query_goal_state_` in MotionPlanningDisplay is ready.\r\n\r\n### Checklist\r\n- [x] **Required**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [x] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/) - N/A\r\n- [x] Include a screenshot if changing a GUI - N/A\r\n- [ ] Optional: Created tests, which fail without this PR [reference](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)\r\n- [x] Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic) - Nope, Kinetic and later is 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