def add_collision_mesh_async(self, callback, errback, collision_mesh):
    co = CollisionObject.from_collision_mesh(collision_mesh)
    co.operation = CollisionObject.ADD
    world = PlanningSceneWorld(collision_objects=[co])
    scene = PlanningScene(world=world, is_diff=True)
    request = scene.to_request(self.ros_client.ros_distro)
    self.APPLY_PLANNING_SCENE(self.ros_client, request, callback, errback)
def add_collision_mesh_async(self, callback, errback, collision_mesh):
    co = CollisionObject.from_collision_mesh(collision_mesh)
    co.operation = CollisionObject.ADD
    world = PlanningSceneWorld(collision_objects=[co])
    scene = PlanningScene(world=world, is_diff=True)
    request = scene.to_request(self.ros_client.ros_distro)
    self.APPLY_PLANNING_SCENE(self.ros_client, request, callback, errback)