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i just messed the two ways to create a collision object.

1) add a collision object through the set_planning_scene_diff call.

arm_navigation_msgs::SetPlanningSceneDiff::Request planning_scene_req;
planning_scene_req.planning_scene_diff.collision_objects.push_back(cylinder_object);

and then call the service.

2) publishing the collision object with an arm_navigation_msgs::CollisionObject topic

with the 1st method, the later call will flush the previous call. with the 2nd method, the object will stay there until an explicit delete command.