Hello

I'm following the tutorial of MoveIt to testing the MoveItCpp API in ROS Melodic. Though this tutorial doesn't mention adding objects to planning scene or attaching them to arm, I found an example of adding collision objects to planning scene from the tutorial of ROS 2 Foxy. By inferring to such example, I tried to implement attaching an object to the end-effector of arm as followng:

// define a cylinder to attach to the arm
shape_msgs::SolidPrimitive cylinderPrimitive;
cylinderPrimitive.type = cylinderPrimitive.CYLINDER;
cylinderPrimitive.dimensions.resize(2);
cylinderPrimitive.dimensions[cylinderPrimitive.CYLINDER_HEIGHT] = 0.1;
cylinderPrimitive.dimensions[cylinderPrimitive.CYLINDER_RADIUS] = 0.02;
// define a pose for the cylinder (specified relative to frame_id)
geometry_msgs::Pose grabPose;
grabPose.orientation = robotStartPose.orientation;
grabPose.position.x = 0.24;
grabPose.position.y = 0.04;
grabPose.position.z = 0.26;

// define a collision object ROS message for the robot to avoid
moveit_msgs::CollisionObject object2Attach;
// frame_id decides the coord frame the object belongs to
object2Attach.header.frame_id = jointModelGroupPtr->getLinkModelNames().back();
// the id of the object is used to identify it
object2Attach.id = "object cylinder";
object2Attach.primitives.push_back(cylinderPrimitive);
object2Attach.primitive_poses.push_back(grabPose);
object2Attach.operation = object2Attach.ADD;
moveit_msgs::AttachedCollisionObject attachedObject;
attachedObject.object = object2Attach;
attachedObject.link_name = jointModelGroupPtr->getLinkModelNames().back();
{
    // lock PlanningScene
    planning_scene_monitor::LockedPlanningSceneRW planningScene(moveitCppPtr->getPlanningSceneMonitor());
    planningScene->processAttachedCollisionObjectMsg(attachedObject);
    // unlock PlanningScene
}

// re-call the PlanningComponents to compute the plan and visualize it
// note that it is just planning
planSolution05 = planningComponents->plan();
// check if PlanningComponents succeeded in finding the plan
if (planSolution05)
{
    visualTools.publishText(textPose, "obstacle goal with attached object", rvt::WHITE, rvt::XLARGE);
    // visualize the start pose in rviz
    visualTools.publishAxisLabeled(robotStartState->getGlobalLinkTransform(paramVisualLink), "start_pose");
    // visualize the goal pose in rviz
    visualTools.publishAxisLabeled(goal05.pose, "target_pose");
    // visualize the trajectory in rviz
    visualTools.publishTrajectoryLine(planSolution05.trajectory, jointModelGroupPtr);
    visualTools.trigger();

    // uncomment if you want to execute the plan
    //planningComponents->execute();
}

While runing this code, I can see the the cylinder is attached to correct position I specified, but it keeps still while arm is in planning annimation, like following gif:

Thanks for your insight!