Support non-convex mesh model

I'd like to use self_filter to filter urdf model which is not robot.
(so this is not robot_filter but urdf_filter)

And I'm using non-convex model in urdf definition for link.
the self_filter in this repo supports only convex model according to 
https://github.com/PR2/pr2_navigation/blob/hydro-devel/pr2_navigation_self_filter/src/bodies.cpp#L61

Is that possible to support non-convex model?
