Unable to allow collisions between a link and a collision object if their name share the same prefix

[DaniGarciaLopez]

I have a link with a collision geometry defined in the URDF named holder and a collision object named tool, which spawns inside the collision geometry at the start of the task (allowing their collision using a ModifyPlanningScene stage). Then, I pick up the tool object, disallow the collision between tool and holder, and later place it back, allowing their collision again in the ComputeIK stage (passing a monitored stage with the ACM modified, as explained here). This works as expected, and I can correctly place the tool inside the collision geometry.

However, if I rename the link to tool_holder, the task fails in the ComputeIK stage. On the other hand, if the word "tool" appears at the end of the name (e.g., holder_tool), it works correctly. It seems there is an issue when allowing or disallowing collisions between a pair of objects that share the same prefix in their names (tool and tool_holder).

I’m not sure if this is a moveit or MTC issue, I couldn't find the root cause of it. I'm using ROS2 Jazzy with the latest commits from the moveit2 main branch and moveit_task_constructor ros2 branch.

Does anyone have an idea why this could be happening? Otherwise, I’ll try to prepare a small example in the next few days to reproduce the issue.

Thanks!

[rhaschke]

I'm not aware that name matching uses a prefix only. Please provide a minimal example. Thanks.

[DaniGarciaLopez]

Looking deeper into the problem, we realized that it was actually on our end. No issue here. Thanks anyway!