visualizing_collisions_tutorial.cpp
#include <ros/ros.h>
#include "interactivity/interactive_robot.h"
#include "interactivity/pose_string.h"
// MoveIt!
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/collision_detection_fcl/collision_world_fcl.h>
#include <moveit/collision_detection_fcl/collision_robot_fcl.h>
#include <moveit/collision_detection/collision_tools.h>
planning_scene::PlanningScene* g_planning_scene = 0;
shapes::ShapePtr g_world_cube_shape;
ros::Publisher* g_marker_array_publisher = 0;
visualization_msgs::MarkerArr
