[ros-users] Add MESH into planning scene collision object FA…

Hi all,

I've been trying to add meshes into collision object, but always get error:
"Unable to compute convex hull"

    trimesh_object.type = arm_navigation_msgs::Shape::MESH;
    for (int i = 0; i < 3; i++) {
        geometry_msgs::Point p;
        p.x = i;
        p.y = i+1;
        p.z = i+2;
        trimesh_object.vertices.push_back(p);
    }

    // then add {0, 1, 2} into trimesh_object.triangles
    collision_object.shapes.push_back(trimesh_object);

    geometry_msgs::Pose pose;
    collision_object.poses.push_back(pose);

    ...

planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);
    get_planning_scene_client.call(planning_scene_req, planning_scene_res)
...

I've followed the instructions on
http://www.ros.org/wiki/arm_navigation/Tutorials/Planning%20Scene/Adding%20Virtual%20Objects%20to%20the%20Planning%20Scene

All I'm trying to do is just to add a simple triangle into the scene, but
so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I
also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.

I don't get why there's "unable to compute convex hull" error. Thanks in
advance.

-Paul