ros-planning/moveit_core — pull request #220 by davetcoleman (2014-12-14 00:19:15+00:00)
Title: Added ability to remove all collision objects directly through API

Currently if you want to remove all collision objects from a planning scene you have to create a ROS collision objects message then have the planning scene process it. This allows direct access, moving the current message processing code out into a re-usable function. Does not change any behavior.

(I'm using this in moveit_visual_tools)