load mesh to rviz and "publish current scene" no effect MoveIt!

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When I work with MoveIt!, instead of loading objects from the tabs in Rviz GUI, I loaded a mesh model into rviz using C++ code (visualization marker) and the loading was successful, I can see the object was there in Rviz. But after I clicked "publish current scene" the planning scene did not take into account the object in terms of collision detection and path planning. Could anyone shed light on how I can make sure the planning scene is aware of the loaded object? Thanks!