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If you just downloaded the franka_ros repository, then you should have these newer bigger collision volumes. In RViz you can check them if you click on Motion Planning -> Scene Robot -> Show Robot Collision. You will probably see this red "cushion" around the arm, which is in collision with the collision object you set up in the scene or will be in collision in the end pose you set out to go to.

Move the collision object/change the pose and all should be fine.