From 0e606f476b0f4fd2dec2e246c12fda19f24c2919 Mon Sep 17 00:00:00 2001
From: Grey <grey@openrobotics.org>
Date: Tue, 8 Dec 2020 14:28:07 +0800
Subject: [PATCH] Clear the output argument before filling it in

---
 ur_kinematics/src/ur_moveit_plugin.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_kinematics/src/ur_moveit_plugin.cpp b/ur_kinematics/src/ur_moveit_plugin.cpp
index d7b9a9252..39bd483fb 100644
--- a/ur_kinematics/src/ur_moveit_plugin.cpp
+++ b/ur_kinematics/src/ur_moveit_plugin.cpp
@@ -894,7 +894,7 @@ bool URKinematicsPlugin::getAllPositionIK(const geometry_msgs::Pose &ik_pose,
   num_sols = inverse((double*) homo_ik_pose, (double*) q_ik_sols, 
                      jnt_pos_test(ur_joint_inds_start_+5));
 
-  
+  solutions.clear();
   for(uint16_t i=0; i<num_sols; i++) {
     std::vector<double> kinematic_solution(q_ik_sols[i], q_ik_sols[i] + 6);
     enumeratePeriodicSolutions(kinematic_solution, ik_chain_info_.limits, solutions, 6);