[SOLVED] Number of primitive shapes does not match number of poses in collision object message

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Hi, i would like to add a STL collision object. I have similar code and it works perfectly with primitive box. I followed https://answers.ros.org/question/2311... but it still writes me [ERROR] [1594897964.204647300]: Number of primitive shapes does not match number of poses in collision object message And i cannot see an *.STL file in RViz. ROS Melodic, windows 10 - Ubuntu terminal, Xming.

Any adwices what i'm doing wrong? Thank you. (Apologize for bad english).

uname -a

Linux ### 4.4.0-18362-Microsoft #836-Microsoft Mon May 05 16:04:00 PST 2020 x86_64 x86_64 x86_64 GNU/Linux

float addMeshCollObj(float fX, float fY, float fZ, string sName){

    static const std::string PLANNING_GROUP = "arm";
    moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
    const robot_state::JointModelGroup* joint_model_group =move_group.getCurrentState()>getJointModelGroup(PLANNING_GROUP);
    moveit_msgs::CollisionObject collision_object;
    collision_object.header.frame_id = move_group.getPlanningFrame();
    collision_object.id = sName;
    Vector3d b(0.001, 0.001, 0.001);
    shapes::Mesh* m = shapes::createMeshFromResource("package://robot_rx160/meshes/gtbx/Ramecek.STL",b);

    shape_msgs::Mesh mesh;
    shapes::ShapeMsg mesh_msg;  
    shapes::constructMsgFromShape(m, mesh_msg);
    mesh = boost::get<shape_msgs::Mesh>(mesh_msg);

    collision_object.meshes.resize(1);
    collision_object.mesh_poses.resize(1);
    collision_object.meshes[0] = mesh;

    collision_object.mesh_poses[0].position.x= fX;
    collision_object.mesh_poses[0].position.y= fY;
    collision_object.mesh_poses[0].position.z= fZ;
    collision_object.mesh_poses[0].orientation.w=0.0; 
    collision_object.mesh_poses[0].orientation.x=0.0; 
    collision_object.mesh_poses[0].orientation.y=0.0;
    collision_object.mesh_poses[0].orientation.z=0.0;   

    collision_object.meshes.push_back(mesh);
    collision_object.mesh_poses.push_back(collision_object.mesh_poses[0]);
    collision_object.operation = collision_object.ADD;

    std::vector<moveit_msgs::CollisionObject> collision_objects;
    collision_objects.push_back(collision_object);
    ROS_INFO("Add an object \"%s\" into the world", sName.c_str());
    planning_scene_interface.addCollisionObjects(collision_objects);

    sleep(1.0);
    return 0.0;
}