urdf collision boxes displacement

[drfenixion]

In FreeCAD collisions boxes are ok

In Gazebo Fortress 6.16.0 are collision boxes displacement

[drfenixion]

After reverting old collision code It works correct. Problem was in wrong way of making collisions and changes of collision code.

Rules of making correct collisions:

1. Collision object must be built from origin object of Visual (or Real) not from link of Visual (or Real) .
2. Collision object must be wraped by Part and therefore collsion link should targets to Part. Direct linking to collision object lead generating wrong placement of collision.

Checks:
Freecad project with collisions

Checked correction of collisions in Gazebo. It is correct.