Can a man consent to be robbed?

The Catholic Answers

That is a contradiction in terms. If a man freely consents to my receiving his property, he is not being robbed. Imagine a man taking me to a law court on a charge of stealing his money, and there admitting that he freely consented to my having it!

Radio Replies Volume 1 by Rev. Dr. Leslie Rumble MSC and Rev. Charles Mortimer Carty