planning_scene_ros_api_tutorial.cpp

planning_scene_ros_api_tutorial.cpp 

#include <ros/ros.h>
#include <geometry_msgs/Pose.h>

// MoveIt!
#include <moveit_msgs/PlanningScene.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/GetStateValidity.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/ApplyPlanningScene.h>

#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>

#include <moveit_visual_tools/moveit_visual_tools.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "planning_scene_ros_api_tutorial");
  ros::AsyncSpinner