link collision elements poses don't update to world frame

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Original report (archived issue) by Roxana Leontie (Bitbucket: rleontie).

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This is an issue since version 1.5 and still present in 4.1.1

All the collision elements poses from a model, starting with the second link don't get updated to the world frame.

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Can you describe how to reproduce the issue? Are you calling GetWorldPose on a collision object?

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Original comment by Roxana Leontie (Bitbucket: rleontie).

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Yes I am calling GetWorldPose on a collision object. I am working on an simplified example right now. I can share the code soon.

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Original comment by Roxana Leontie (Bitbucket: rleontie).

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Please look at this repository https://[email protected]/rleontie/gazebo_bugs.git

The printout shows how the "lock_link_collision_base2" and "lock_link_collision_knob" don't change poses in the global frame even though the door is moving. Thanks for helping on the issue.

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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Thanks for reporting this, but I think it has already been reported as #1124. Would you mind moving the discussion over to that issue? The good news is that a regression test has been written for this issue, though it is incomplete. I believe it is only checking the first collision in the first link of the model.

Would you be able to modify the regression test in 1124_collision_pose.cc to show the failure?

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Original comment by Roxana Leontie (Bitbucket: rleontie).

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I will work on a patch for the regression test so we can fix this asap.

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Original comment by Roxana Leontie (Bitbucket: rleontie).

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• changed state from "new" to "duplicate"

Duplicate of #1124.

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Original comment by Roxana Leontie (Bitbucket: rleontie).

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• changed state from "duplicate" to "closed"

Colsing the ticket. The discussion will continue on issue #1124 (#1124)