text: #!/usr/bin/python
  
  import roslib; roslib.load_manifest('apc_models')
  
  import sys
  import rospy
  
  import moveit_commander
  from moveit_msgs.msg import PlanningScene, PlanningSceneWorld
  
  from geometry_msgs.msg import PoseStamped
  
  
  if __name__=='__main__':
      scene = moveit_commander.PlanningSceneInterface()
      scene_topic = rospy.Publisher("planning_scene", PlanningScene)
      rospy.init_node('publish_boxshelf', anonymous=True)
      # while scene._pub_co.get_num_connections() == 0:
      #     rospy.sleep(1)
      rospy.sleep(10)
  
      pose = PoseStamped()
      pose.header.frame_id = "/base_link"
      pose.header.stamp = rospy.Time.now()
      pose.pose.position.x = 0
      pose.pose.position.y = 1
      pose.pose.position.z = 0.33
      pose.pose.orientation.x = 0
      pose.pose.orientation.y = 0
      pose.pose.orientation.z = 0
      pose.pose.orientation.w = 1
  
      scene.add_box(
          name="table",
          pose=pose,
          size=(1, 0.5, 0.6)
      )
      print "Published table"
      # rospy.spin()
      moveit_commander.roscpp_shutdown()
  