Add collison object from a urdf file in moveit

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After doing some research I concluded that, as of now there is no direct method to do so. Thus, for now Im parsing the urdf file using TinyXml (xml parser).

I get the values of all the necessary attributes of urdf and save them as variables using TinyXml. And then I use those variables in the piece of code where Im defining all the properties of the collision object and adding it to the planning scene.