The package description makes it sound like this package displays MoveIt internals via visualization markers, but it looks like CollisionObjects are actually published to the planning scene as actual objects instead of as visualization markers. Is there any insight you can share about why this choice was made @davetcoleman ?
I suspect it is because the Marker message needs the mesh's filepath, but the CollisionObject message only has a shape_msgs/Mesh message that is not easily converted, but I would like to confirm.
The package description makes it sound like this package displays MoveIt internals via visualization markers, but it looks like CollisionObjects are actually published to the planning scene as actual objects instead of as visualization markers. Is there any insight you can share about why this choice was made @davetcoleman ?
I suspect it is because the Marker message needs the mesh's filepath, but the CollisionObject message only has a
shape_msgs/Meshmessage that is not easily converted, but I would like to confirm.