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To make MoveIt stop building its own map just disable the OccupancyMapUpdater that is configured in your moveit config. To get the rtabmap-octomap into the move_group node you will have to write a new OccupancyMapUpdater plugin, or re-/ab-use the pointcloud_octomap_updater plugin at the cost of possibly big delays.

To make MoveIt stop building its own map just disable the OccupancyMapUpdater that is configured in your moveit config. To get the rtabmap-octomap into the move_group node you will have to write a new OccupancyMapUpdater OccupancyMapUpdater plugin, or re-/ab-use the pointcloud_octomap_updater plugin at the cost of possibly big delays.