Moving a box using tf

edit

Hi to all,

I try to move a box in my planning scene using a tf-frame. But it's not working at the moment.

I insert the box as shown in the moveit-tutorial and giving it a tf-frame additionally like this:

 /* The id of the object is used to identify it. */
  co_box.id = "box1";
  co_box.header.frame_id = "//box_frame";

If I now insert the box, it is correctly inserted at the position and orientation I publish in my tf-broadcaster. But when I move the frame in the broadcaster, I can see the frame moving in Rviz but not the box.

What can I do here. Is the box not correctly linked to the tf-frame or do I constantly need to update the planning scene. I'm really stuck here. I would really appreciate if somebody could help me out.

Edit (the code for inserting the box and trying to move):

 // insert BOX
  // ^^^^^^^^^^

  moveit_msgs::CollisionObject co_box;
  co_box.header.frame_id = "//box_frame";

  /* The id of the object is used to identify it. */
  co_box.id = "box1";
  // co_box.header.frame_id = "box_frame";

  /* Define a box to add to the world. */
  shape_msgs::SolidPrimitive primitive;
  primitive.type = primitive.BOX;
  primitive.dimensions.resize(3);
  primitive.dimensions[0] = 1.0;
  primitive.dimensions[1] = 0.2;
  primitive.dimensions[2] = 0.4;

  /* A pose for the box (specified relative to frame_id) */
  geometry_msgs::Pose box_pose;
  box_pose.orientation.w = 1.0;
  box_pose.position.x =  0.0;
  box_pose.position.y =  0.0;
  box_pose.position.z =  0.0;

  co_box.primitives.push_back(primitive);
  co_box.primitive_poses.push_back(box_pose);
  co_box.operation = co_box.ADD;



  std::vector<moveit_msgs::CollisionObject> collision_objects;
  collision_objects.push_back(co_box);

  ROS_INFO("Add collision objects into the world");
  planning_scene_interface.addCollisionObjects(collision_objects);
  /* Sleep so we have time to see the object in RViz */
  sleep(10.0);

  while(ros::ok()){
       co_box.operation = co_box.MOVE;
       sleeprate.sleep();
  }