CollisionObjects don't collide with environment after attaching to robot about moveit_msgs HOT 3 CLOSED

Can you check if this is related to moveit/moveit#2676 ?

from moveit_msgs.

hi @felixvd

I don't think this is related as I am not using Pilz, but OMPL PRM.
However, Pilz was giving me a lot of issues when trying to launch my planning_execution, so I uncommented the Pilz related launch segments. I don't see how that could effect this, but maybe there is something there?

Thanks!
Ivo

from moveit_msgs.

hi @felixvd

The issues appears to be a simple mistake on my end. I assumed that by attaching the the object to link_6 of the robot, the collision between these two would be ignored, which turns out is not the case. After adding a small offset so the tool and link_6 are no longer "touching" everything works fine. Although the collision of the tool is not highlighted in red like with other parts of the robot, it is now recognised and taken into account.

thank you!
Ivo

from moveit_msgs.