Moveit! planning and collision detection with multiple robots

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Hi everyone,

I know this question did appear once in MoveIt Google Groups newsletter, but I am still curious in this topic.

https://groups.google.com/forum/#!top...

I have to make path planning for an industrial robot cell with ROS and I thought it would be a good idea to setup all of this in Rviz and Moveit first.

I had the idea to make a big urdf with my robots and set up the environment in this. I attached the base links of all parts to a virtual "world" link with planar joints. This is possible, but unfortunately I get strange collisions with my robots in free space.

Does anyone have an idea why this happens? Maybe the error is due to internal MoveIt collision checks? Is this even possible or should I try to use different tf_prefixes for each robot and import the environment parts as scene objects?

I would greatly appreciate any help as I am eager to fix this issue. I am sure there are more people interested in this topic. I can provide more information if necessary.

Thanks!

Greetings, Almin