ros-industrial/universal_robot — pull request #122 by hersh (2014-10-09 22:07:51+00:00)
Title: Workaround for moveit collision-checking bug

This adds a tiny cube to the collision part of the ee_link of the ur5, and also adds it to the .srdf in the moveit_config package so collisions between it and wrist_3 get ignored. It is a workaround for https://github.com/ros-planning/moveit_core/issues/158. The way the urdf and srdf are arranged, it is common to attach grasped objects to the ee_link, at which point they will be ignored by the collision-checking code in moveit_core.

This pull request is chained off of https://github.com/ros-industrial/universal_robot/pull/121 for my own convenience. If you don't want that one but you do want this one, I can cherry-pick it and resubmit.