• g_collision_points : attached_body_tutorial.cpp , collision_contact_tutorial.cpp
• g_marker_array_publisher : collision_contact_tutorial.cpp , attached_body_tutorial.cpp
• g_planning_scene : attached_body_tutorial.cpp , collision_contact_tutorial.cpp
• g_world_cube_shape : collision_contact_tutorial.cpp , attached_body_tutorial.cpp
• ROBOT_DESCRIPTION : pick_place_tutorial.cpp