Description

We had an issue with MoveIt Servo that was fixed in #2747, where collision checking with attached objects was failing since the presence of the object was not correct.

Simply switching the line:

robot_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState();

to

robot_state_ = planning_scene_monitor_->getPlanningScene()->getCurrentState();

fixes the issue, so I wanted to file a bug tracking this mismatch.