I'm using the ROS arm navigation stack on a custom robot, and I will sometimes get trajectories that cause my arm to collide with obstacles in the environment. Anyone have any idea as to why?

Notes/info:

• Running collider for a collision map, with a Kinect camera as the data source. Collision map is published to /collisionmapocc, and appears properly in rviz
• OMPL planning has usemonitor and usecollisionmap set to true. I have confirmed in rxgraph that environmentserver is subscribed to /collisionmapocc from collider.
• All of my arm links and my gripper link have collision meshes set, and when the collisions occur, I can see them intersecting my collision map in rviz
• The collisions are with the surface of a table that has been detected using tabletopobjectsegmentation and inserted into the collision environment by tabletopcollisionmap_processing. Not sure if this matters.