Removing the added object from the planning scene is a very simple process. Following the same initialization as in the previous example, we only need to create a string vector containing the IDs of the objects we want to remove and call the removeCollisionObjects function from the planning scene interface:
std::vector<std::string>object_ids; object_ids.push_back("rosbook_box"); current_scene.removeCollisionObjects(object_ids);
We can test this snippet by running the following command, which will remove the object created with the previous snippet from the planning scene:
$ rosrun rosbook_arm_snippets move_group_remove_object
Alternatively, we can also use the Scene objects tab in the RViz plugin to remove any objects from the scene.