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Hi Hsiao, thanks for your answer, but it seems like I will need a URDF description of my robot since the collider_node says that it cannot find /robot_description. The problem with my robot is that it is not possible to create a URDF model for it because of the construction of its arm.
The reason I didn't look at the pr2 manipulation pipeline was because I thought that it was really pr2 specific, but indeed, after looking at those files it became clear to me what is needed to make everything work. I think that I will have to find an alternative for collision detection for my case, but thanks for the help anyways.
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