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For your reference: https://github.com/ros-planning/moveit/issues/1188

For your reference: https://github.com/ros-planning/moveit/issues/1188

UPDATE by @130s: I haven't verified. I don't even know if the problem persists in newer code base. Just copy-pasting the workaround the author from moveit#1188 verified:

I now understand that the planningscene frame is set to the root link in the URDF/SRDF by default. In my case, this caused the octomap to always update in the frame of my mobile robot. The solution was to add a virtual joint in my SRDF that connects the fixed frame (map) to the root link on my robot.

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