Revision history [back]

Like you already guessed, that is not possible. The error Link 'first_object' not found in model 'robot' is coming from the robot_model.cpp. The planning scene updater looks for a LinkModel to attach the object to but cannot find it.

However, if you attach to the link of the robot that the first object is attached to, you will get the exact same result. As the transform between the Link and first_object will be static, and between Link and second_object as well (once you attach them), the transform between first_object and second_object will also be static.