Use attached object colors as is in Rviz plugin

Backport of moveit/moveit2#3274
ubi-agni · Jan 27, 2025 · d6eebbd · d6eebbd
1 parent b7ac2f5
commit d6eebbd
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/robot_state_visualization.cpp
@@ -121,11 +121,9 @@ void RobotStateVisualization::updateHelper(const moveit::core::RobotStateConstPt
     {
       std::map<std::string, std_msgs::ColorRGBA>::const_iterator it = color_map->find(attached_body->getName());
       if (it != color_map->end())
-      {  // render attached bodies with a color that is a bit different
-        color.r = std::max(1.0f, it->second.r * 1.05f);
-        color.g = std::max(1.0f, it->second.g * 1.05f);
-        color.b = std::max(1.0f, it->second.b * 1.05f);
-        alpha = color.a = it->second.a;
+      {
+        color = it->second;
+        alpha = color.a;
       }
     }
     rviz::RobotLink* link = robot_.getLink(attached_body->getAttachedLinkName());