Starting with ROS Groovy, this is no longer a ROS package, but a standalone library. Please see https://github.com/flexible-collision-library
This package is maintained by Jia Pan, Dinesh Manocha, Ioan Sucan and Sachin Chitta.
For more technical details, check out the FCL paper
Download and Install
Download the code using Git:
git clone git://github.com/flexible-collision-library/fcl.git
More collision detection and proximity collision packages developed at UNC Chapel Hill are available in UNC Collision Packages.