I have, from what I can tell, successfully attached a mesh to my robot via this [tutorial](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/planning_scene_ros_api_tutorial.html), however the collision checking in RViz seems wrong.
After attaching the added object (previously green) turns purple. By dragging the goal state query around I confirm that the attached object collides correctly with the robot **but NOT with other objects in the environment** (the robot, however, will collide with said objects). I tried searching for this issue and found some other related topics but none with my exact situation.
Some notes:
* The attached object is not visible on RViz's goal query until I hit the "Publish Current Scene" button
* Visualizations via the "/move_group/display_planned_path" do not show the attached object
[edit]
Playing some more with RViz I am getting status messages to the effect of:
Goal state colliding links:
attached_object - environment_object
but the robot doesn't turn any links red and/or cycle through solutions looking for a "good" solution. It is also more than happy to plan and execute to that goal state with colliding links...
What am I missing here?
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