Is it possible to get a list of all the current collision objects using the MoveIt API?

edit

Thanks, atas.

I'm now able to get a list of the collision objects in the scene using getCollisionObjects(). However, for some reason I'm unable to remove collision objects using removeCollisionObjects().

For example I tried:

int main(int argc, char **argv) 
{
    ros::init(argc, argv, "remove_collision");
    ros::NodeHandle node_handle("~");

    ros::AsyncSpinner spinner(1);
    spinner.start();

    moveit::planning_interface::PlanningSceneInterface current_scene;
    sleep(1.0);

    std::vector<std::string> object_ids;
    object_ids.push_back("box1");
    current_scene.removeCollisionObjects(object_ids);
    ROS_INFO("remove an object from the world");

    ros::shutdown();
}

Perhaps that is a question for a new thread. For now I'm able to remove the objects using the planning scene diffs via a rosservice call to '/apply_planning_scene'.

get a list of current objects with getCollisionObjects()

That's unavailable