Removed collision objects linger on somewhere colliding with the robot

[skaeringur97]

Description

When running a pick and place demo for a while, objects that I have placed and removed from the planning scene somehow linger on and collide with the robot even though they are not visible in Rviz or from psi.getKnownObjectNames(). This only happens if I publish the objects in one node, and remove them in another. I have tried removing them with PSI, PSM and publishing to the planning scene with synchronous and asynchronous updates. This is the same problem as explained in #924 .

I made a minimal example where you can see the error [servo_node-2] [WARN] [1669973859.126323207] [moveit_collision_detection.collision_common]: Objects in collision (printing 1st of 1 pairs): applex, panda_hand after applex has been removed. I made it so that you can easily modify it to publish the apples locally and then you won't see this error.

Your environment

• ROS2: [Humble]
• OS Version: e.g. Ubuntu 22.04
• Binary build

Steps to reproduce

minimal example node.
Apple spawner node.
Panda driver launch file,
Panda moveit launch file,
Main launch file.

How to run showing the error:
Run the launch files in this order: Panda driver -> Panda moveit -> Main

How to "fix" the error:

1. In the minimal example code, set publish_apples_here to true.
2. In the main launch file, remove the apple spawner node from the launch description.
3. Run the launch files in the same order.

Expected behaviour

Objects are picked and placed and then removed.

Actual behaviour

Removed objects linger on somewhere and collide with the robot.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions]

This issue was closed because it has been stalled for 45 days with no activity.