With point clouds it works,with depth there is problem with self-filtering of the robot (so arms get into collision often). https://groups.google.com/forum/#!topic/moveit-users/RsmXVih0SIE
With point clouds it works,with depth there is problem with self-filtering of the robot (so arms get into collision often).
https://groups.google.com/forum/#!topic/moveit-users/RsmXVih0SIE