RViz Ignoring Collisions Between Attached Object and Environment
I have, from what I can tell, successfully attached a mesh to my robot via this tutorial, 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?
