frame id is overridden when collision object added to planning scene

asked 2018-10-19 00:50:14 -0500

jkarimi91 gravatar image

I am following the "Adding Collision Objects to the Planning Scene" section of the MoveIt! Move Group Python Interface guide.

I have been setting the frame_id of the PoseStamped messages to "/map". However, when the collision object is added to the planning scene, I find that the frame_id has been changed to "/odom".

I have also noticed the following log message, "Listening to '/collision_object' using message notifier with target frame '/odom'". This message seems can be found in line 1055 of planning_scene_interface.cpp as a result of tf_ == true.

Why is this happening?

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