I clean up my last post, I'm sorry for it seems a little chaos.
I realized 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 add the ghost robot for checking collision. 
In specific words, how "the 9th rviz topic marked State Validity" is added,
which kind State Validity is and which kind of topic State Validity has. 
My simulation result is like this : 
http://ros-users.122217.n3.nabble.com/file/n949014/Screenshot-1.png 
But the tutorial simulation result like this: 
http://ros-users.122217.n3.nabble.com/file/n949014/2.jpg 
I want to know how to add the ghost robot. Thank you
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