I focus on the collision detection for motion planning of pr2, and try to
merge our collision detection method into ROS.
I have seen the code of collisionODE.cpp from collision_space package, and I
think I have got the main idea of the algorithm.
But I need to debug the program of Checking collisions for a given robot
state, which is using python and c++ together and is a distributed program.
I used gdb to debug......but failed.

Who can give me some advices? Thank you.
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