Now I am realizing the tutorial of Checking collisions for a given robot
state,
http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A
Everything is done following the above toturial except that I don't know how
to display the ghost robot for checking collision. In specific words, I
don't know how "the 9th rviz topic marked State Validity" is add, which kind
State Validity is and which kind of topic State Validity has.
Bellow is a shotcut of my realization.
http://ros-users.122217.n3.nabble.com/file/n948554/Screenshot.png 
Thank you.
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