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It's likely you've forgotten to populate the header.frame_id of the moveit_msgs::CollisionObject.

The frame_id is used by MoveIt/RViz to figure out where your mesh should be attached/visualised.

It's likely you've forgotten to populate the header.frame_id of the moveit_msgs::CollisionObject.

The frame_id is used by MoveIt/RViz to figure out where your mesh should be attached/visualised.

You'll need to set it to the name of one of the TF frames already present in your TF tree.