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  /* Author: Ioan Sucan */
  
  #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
  #include <cstdlib>
  
  static const std::string ROBOT_DESCRIPTION = "robot_description";
  
  int main(int argc, char **argv)
  {
    ros::init(argc, argv, "visualize_robot_collision_volume");
  
    ros::AsyncSpinner spinner(1);
    spinner.start();
  
    double radius = 0.02;
    double lifetime = 600.0;
  
    boost::shared_ptr<tf::TransformListener> tr(new tf::TransformListener());
    planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION, tr);
    if (psm.getPlanningScene())
    {
      psm.startWorldGeometryMonitor();
      psm.startSceneMonitor();
      psm.startStateMonitor();
      ros::NodeHandle nh;
      ros::Publisher pub_markers = nh.advertise<visualization_msgs::MarkerArray>("visualization_marker_array", 10);
      std::cout << "\nListening for planning scene...\nType the number of spheres to generate and press Enter: "
                << std::endl;
      int N;
      std::cin >> N;
  
      planning_scene::PlanningScenePtr scene = psm.getPlanningScene();
      std::vector<double> aabb;
      scene->getCurrentState().computeAABB(aabb);
  
      // publish the bounding box
      visualization_msgs::Marker mk;
      mk.header.stamp = ros::Time::now();
      mk.header.frame_id = scene->getPlanningFrame();
      mk.ns = "bounding_box";
      mk.id = 0;
      mk.type = visualization_msgs::Marker::CUBE;
      mk.action = visualization_msgs::Marker::ADD;
      mk.pose.position.x = (aabb[0] + aabb[1]) / 2.0;
      mk.pose.position.y = (aabb[2] + aabb[3]) / 2.0;
      mk.pose.position.z = (aabb[4] + aabb[5]) / 2.0;
      mk.pose.orientation.w = 1.0;
      mk.scale.x = aabb[1] - aabb[0];
      mk.scale.y = aabb[3] - aabb[2];
      mk.scale.z = aabb[5] - aabb[4];
      mk.color.r = 0.0f;
      mk.color.g = 0.5f;
      mk.color.b = 1.0f;
      mk.color.a = 0.3f;
      mk.lifetime = ros::Duration(lifetime);
      visualization_msgs::MarkerArray arr;
      arr.markers.push_back(mk);
      pub_markers.publish(arr);
  
      Eigen::Affine3d t;
      t.setIdentity();
      std::vector<Eigen::Vector3d> points;
      std::size_t published = 0;
      random_numbers::RandomNumberGenerator rng;
      collision_detection::CollisionRequest req;
  
      std_msgs::ColorRGBA color;
      color.r = 1.0f;
      color.g = 0.0f;
      color.b = 0.0f;
      color.a = 1.0f;
  
      for (int i = 0; i < N; ++i)
      {
        t.translation() = Eigen::Vector3d(rng.uniformReal(aabb[0], aabb[1]), rng.uniformReal(aabb[2], aabb[3]),
                                          rng.uniformReal(aabb[4], aabb[5]));
        scene->getWorldNonConst()->clearObjects();
        scene->getWorldNonConst()->addToObject("test", shapes::ShapeConstPtr(new shapes::Sphere(radius)), t);
        collision_detection::CollisionResult res;
        scene->checkCollision(req, res);
        if (res.collision)
        {
          points.push_back(t.translation());
          if (points.size() - published >= 100 || (points.size() > published && i + 1 >= N))
          {
            arr.markers.clear();
            for (std::size_t k = published; k < points.size(); ++k)
            {
              visualization_msgs::Marker mk;
              mk.header.stamp = ros::Time::now();
              mk.header.frame_id = scene->getPlanningFrame();
              mk.ns = "colliding";
              mk.id = k;
              mk.type = visualization_msgs::Marker::SPHERE;
              mk.action = visualization_msgs::Marker::ADD;
              mk.pose.position.x = points[k].x();
              mk.pose.position.y = points[k].y();
              mk.pose.position.z = points[k].z();
              mk.pose.orientation.w = 1.0;
              mk.scale.x = mk.scale.y = mk.scale.z = radius;
              mk.color = color;
              mk.lifetime = ros::Duration(lifetime);
              arr.markers.push_back(mk);
              pub_markers.publish(arr);
            }
            pub_markers.publish(arr);
            published = points.size();
          }
        }
      }
    }
  
    return 0;
  }
  