attaching objects to gripper in ROS

gistfile1.cpp

void MechanismInterface::attachObjectToGripper(std::string arm_name, std::string collision_object_name)
{
  arm_navigation_msgs::AttachedCollisionObject obj;
  obj.object.header.stamp = ros::Time::now();
  obj.object.header.frame_id = handDescription().robotFrame(arm_name);
  obj.object.operation.operation = arm_navigation_msgs::CollisionObjectOperation::ATTACH_AND_REMOVE_AS_OBJECT;
  obj.object.id = collision_object_name;
  obj.link_name = handDescription().attachLinkName(arm_name);
  obj.touch_links = handDescription().gripperTouchLinkNames(arm_name);
  attached_object_pub_.publish(obj);
}
https://code.ros.org/svn/wg-ros-pkg/stacks/object_manipulation/trunk/object_manipulator/src/tools/mechanism_interface.cpp