Decay Octomap in MoveIt?
Hey guys,
Is there a way to automatically "decay" the octomap somehow in MoveIt? I have the problem that sometimes obstacles don't get deleted, because the obstacle moved towards the sensor, casting a shadow on the previously occupied space and therefore preventing it from realizing the space is now free.
If any information older than x in the octomap would get deleted, this problem could be prevented. Is there already an option implemented to do this? Or am I on the wrong path and there is another solution to this problem?
Thanks in advance,
Rabe