:planning_scene:`PlanningScene` 类提供了用于干涉和约束检查的主要接口。在本教程中，我们将探索此类的 C++ 接口。
请先确保已经完成了 入门 里的步骤。
整个代码见 :codedir:`here in the MoveIt GitHub project<planning_scene>` 。
.. tutorial-formatter:: ./src/planning_scene_tutorial.cpp
整个 launch 文件在 GitHub 上的 :codedir:`这里<planning_scene/launch/planning_scene_tutorial.launch>` 可见。本教程中的所有代码都可从 moveit_tutorials 包中运行，这个包是 MoveIt 安装的一部分。
使用 roslaunch 启动 launch 文件以直接运行 moveit_tutorials 包里的代码：
roslaunch moveit_tutorials planning_scene_tutorial.launch
预期的输出将会是以下形式。因为我们使用了随机的关节值，所以数字可能和您看到的有出入：
ros.moveit_tutorials: Test 1: Current state is not in self collision ros.moveit_tutorials: Test 2: Current state is not in self collision ros.moveit_tutorials: Test 3: Current state is not in self collision ros.moveit_tutorials: Test 4: Current state is valid ros.moveit_tutorials: Test 5: Current state is in self collision ros.moveit_tutorials: Contact between: panda_leftfinger and panda_link1 ros.moveit_tutorials: Contact between: panda_link1 and panda_rightfinger ros.moveit_tutorials: Test 6: Current state is not in self collision ros.moveit_tutorials: Test 7: Current state is not in self collision ros.moveit_tutorials: Test 8: Random state is not constrained ros.moveit_tutorials: Test 9: Random state is not constrained ros.moveit_tutorials: Test 10: Random state is not constrained ros.moveit_tutorials: Test 11: Random state is feasible ros.moveit_tutorials: Test 12: Random state is not valid
注意: 如果您的输出具有不同的 ROS 控制台日志格式，请不要担心。您可以查看 这篇博文 来自定义 ROS 控制台日志。