[Servo] Fix collision checking with attached objects - Githubissues

moveit / moveit2

:robot: MoveIt for ROS 2

https://moveit.ai/

BSD 3-Clause "New" or "Revised" License

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[Servo] Fix collision checking with attached objects #2747

Closed sea-bass closed 4 months ago

sea-bass commented 4 months ago

Description

This PR introduces a slight fix to the MoveIt Servo collision checker to make it work with attached objects.

Turns out Current State Monitor has some issues, but Planning Scene Monitor works fine: https://github.com/ros-planning/moveit2/issues/2748

Checklist

[x] Required by CI: Code is auto formatted using clang-format
[x] Extend the tutorials / documentation reference
[x] Document API changes relevant to the user in the MIGRATION.md notes
[x] Create tests, which fail without this PR reference
[x] Include a screenshot if changing a GUI
[x] While waiting for someone to review your request, please help review another open pull request to support the maintainers

sea-bass commented 4 months ago

CI failures seem to be from https://github.com/ros-planning/moveit2/issues/2749