Publishing a collision object to MoveIt!

edit

I am using MoveIt! for controlling an ABB IRB1600 robotic arm. Currentyl I am able to execute trajectories with the robotic arm. The problem is that the arm moves through objects, instead of around.

To change this I tried publishing a collision object on the collision_object topic. Hoping that MoveIt! would pick this up and add it to its environment. I do this using the class shown below. In the class I publish the mesh of a ring as a collision object on the topic collision_object.

After the code in the class is run I can see the object being published on the topic (rostopic echo collision_object). Though when I replan and move the robotic arm, it still moves right through the ring.

Am I missing something? Am I falsely expecting MoveIt! to just pick up my object after publishing? Any help would be very much appreciated!

Thx

edit: Using Hydro on Ubuntu 12.04

second edit: Included working code

  #include <ros/ros.h>
    #include <moveit_msgs/CollisionObject.h>
    #include <moveit_msgs/PlanningScene.h>
    #include <geometric_shapes/shape_operations.h>

    class collisionObjectAdder
    {
    protected:

         ros::NodeHandle nh;
         ros::Publisher add_collision_object_pub; 
         //ros::Publisher planning_scene_diff_pub;
    ;

    public:

       collisionObjectAdder() 
       {
            add_collision_object_pub = nh.advertise<moveit_msgs::CollisionObject>("collision_object", 1000);
       }

       void addCollisionObject()
       {
          sleep(1.0); // To make sure the node can publish  
          moveit_msgs::CollisionObject co;

          shapes::Mesh* m = shapes::createMeshFromResource("package://sim_move/meshes/ring.STL"); 
          ROS_INFO("mesh loaded");
          shape_msgs::Mesh co_mesh;
          shapes::ShapeMsg co_mesh_msg;  
          shapes::constructMsgFromShape(m, co_mesh_msg);    
          co_mesh = boost::get<shape_msgs::Mesh>(co_mesh_msg);  
          co.meshes.resize(1);
          co.mesh_poses.resize(1);
          co.meshes[0] = co_mesh;
          co.header.frame_id = "mainulator";
          co.id = "ring";     

   //     OLD CODE, THIS IS WHERE THE PROBLEM OF THIS QUESTION LIES         
   //     geometry_msgs::Pose pose;
   //     pose.position.x =  0.75;
   //     pose.position.y =  0;
   //     pose.position.z =  0.525;
   //     co.primitive_poses.push_back(pose);

   //     NEW CODE, SOLUTION TO THE PROBLEM 
          co.mesh_poses[0].position.x = 0.75;
          co.mesh_poses[0].position.y = 0.0;
          co.mesh_poses[0].position.z = 0.525;
          co.mesh_poses[0].orientation.w= 1.0;
          co.mesh_poses[0].orientation.x= 0.0;
          co.mesh_poses[0].orientation.y= 0.0;
          co.mesh_poses[0].orientation.z= 0.0;   

          co.meshes.push_back(co_mesh);
          co.mesh_poses.push_back(co.mesh_poses[0]);
          co.operation = co.ADD;

          add_collision_object_pub.publish(co);
          ROS_INFO("Collision object published");
       }
    };


    int main(int argc, char** argv)
    {
            ros::init(argc, argv, "add_collision_object");
            std::cout<<"Initialized..." << std::endl;
            collisionObjectAdder coAdder; 

            coAdder.addCollisionObject();

            ros::spin();

            return 0;
    }