[ros-users] [planning_environment] getting all the contact …

I am interested in getting the locations of all the contacts between
the arm (in its current configuration) and the environment.

The environment_server node of the planning_environment package almost
does the job but it publishes each contact point as a separate Marker.

It would be really helpful for me if there were a way to get the
entire collision state in one shot. Is this a possibility?

Thanks again,
Advait