MGI tutorial: declare touch_links when attaching an object (#790)

Author: rhaschke

doc/move_group_interface/src/move_group_interface_tutorial.cpp

@@ -428,10 +428,10 @@ int main(int argc, char** argv)
   object_to_attach.operation = object_to_attach.ADD;
   planning_scene_interface.applyCollisionObject(object_to_attach);
 
-  // Then, we "attach" the object to the robot. It uses the frame_id to determine which robot link it is attached to.
-  // You could also use applyAttachedCollisionObject to attach an object to the robot directly.
+  // Then, we "attach" the object to the robot at the given link and allow collisions between the object and the listed
+  // links. You could also use applyAttachedCollisionObject to attach an object to the robot directly.
   ROS_INFO_NAMED("tutorial", "Attach the object to the robot");
-  move_group_interface.attachObject(object_to_attach.id, "panda_hand");
+  move_group_interface.attachObject(object_to_attach.id, "panda_hand", { "panda_leftfinger", "panda_rightfinger" });
 
   visual_tools.publishText(text_pose, "Object attached to robot", rvt::WHITE, rvt::XLARGE);
   visual_tools.trigger();