Follow your guide, I check out my command again. Now I confirm the command
used is the same as the one in the tutorial. And the result seems all right. 
When I change req.robot_state.joint_state.position[0] = 0.0;
to 
req.robot_state.joint_state.position[0] = -0.55;
$ ./bin/get_state_validity 
[ INFO] [157.908000000]: Requested state is in collision. Error code: -23

But I can't get the StateValidity topic and the ghosted robot.
 

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