Errors in the tutorial "Move Group C++ Interface"

[struggler-lu]

Description

I follow the tutorial to operate and I met the errors when I tried to attach objects to the robot and plan the path.The start state was in collision so the path planning was failed.The errors encountered are shown in the following figures. Figure1 Figure2

It seems that there is a collision between the object attached to the robot and the grippers.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04

Steps to reproduce

I followed this tutorial: https://ros-planning.github.io/moveit_tutorials/doc/move_group_interface/move_group_interface_tutorial.html#

Expected behaviour

The result may look something like the GIFs in the tutorial.

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[rhaschke]

Thanks for reporting. The solution is to declare touch_links, i.e. links which are allowed to touch the object.