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I've finally got the planning up and running. The joint messages are all there in place and published regularly. However, whenever ompl_planning starts it job, the callback that gets called when a new joints_state message is received stops being called until planning is finished (actually all of the messages are queued; it looks like a thread is kept on hold). This is very strange. The same thing happens with trajectory_filter and environment_server. This doesn't seem to affect the behaviour of the nodes anyway.