From f60729ea9691702235c9b4ae6e8ff04e55ef4c9e Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 10 Nov 2020 17:16:49 +0900
Subject: [PATCH] Add touch links to keepout collision object

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index 3faebba8408..95d27c341a9 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -210,7 +210,7 @@ Example: (send self :gripper :position) => 0.00"
             "base_link"
             :frame-id base-frame-id
             :object-id "keepout"
-            :touch-links nil)))
+            :touch-links (list base_link torso_fixed_link))))
   (:delete-keepout-collision-object ()
     (send *co* :delete-attached-object-by-id "keepout")
     (send *co* :delete-object-by-id "keepout"))