Rviz programs

[RyodoTanaka]

I think I should add a Rviz programs to check by viewing what the collision detection (calculation of distance) is actually doing.

1. Publish Marker for visualization

To visualize the shape itself, nearest points, and lines between nearest points.

2. Some Rviz or Rqt program to set the transform values.

This is I think, utilize topic to set them by Rqt plugins (ez_rqt_publisher, rqt_topic_publisher etc...)

But anyway, I won't do them because of busy.