Which is better: adding a new object to the planning_scene_diff or publishing it on a topic?

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Hi All,

For adding an object to the planning scene, which is better, in which case?

(a) adding it to the planning_scene_diff (see this tutorial)

or

(b) publishing it on an arm_navigation_msgs::CollisionObject topic (see this tutorial)

So far, I notice some facts below, please CMIIW:

(a.1) Adding objects to the planning scene does not change the current state of the world, therefore we have to always include them with our next diff in order to make them in the planning scene.

(b.1) We have to make an rviz plugin to visualize objects published in arm_navigation_msgs::CollisionObject topic.

How do you usually do for that use case?

Thanks in advance.

PS: I am using Fuerte, Oneiric Ocelot 64-bit)