Description

Method PlanningSceneInterface::getKnownObjectNamesInROI ignores CollisionObject's pose attribute. Here it checks both mesh_poses and primitive_poses without composing with root pose, breaching the msg specification

Your environment

• ROS Distro: [Noetic] (I first found this issue on ROS1 noetic, but the code is the same on ROS2)
• OS Version: Ubuntu 20.04
• Source build, latest master

Steps to reproduce

No need; the bug is clear and easy to explain cause CollisionObject's pose is relatively recent.

Expected behaviour

Both loops, meshes and primitives should use root pose * mesh/primitive poses to check if within ROI (not simply mesh/primitive poses as now).
Also, isn't this check already obsolete? that is, is it not allowed now to have both empty mesh and primitive poses array? (if the root object pose is already enough)

Actual behavior

We ignore CollisionObject's pose