Removing the collision object from the planning scene is pretty easy. We have to create an object of  moveit::planning_interface::PlanningSceneInterface, like we did in the previous example, along with some delay:

moveit::planning_interface::PlanningSceneInterface current_scene;
sleep(5.0);

Next, create a vector of the string that contains the collision object IDs. Here our collision object ID is seven_dof_arm_cylinder. After pushing the string to this vector, we will call removeCollisionObjects(object_ids), which will remove the collision objects from the planning scene:

std::vector<std::string> object_ids;
object_ids.push_back("seven_dof_arm_cylinder");
current_scene.removeCollisionObjects(object_ids);

This code is placed in seven_dof_arm_test/src/remove_collision_objct.cpp.