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MoveIt does support self-filtering but you have to make sure that it is setup correctly. First, make sure that the transforms can be read from the cache in time see this question.
Second, if you are using a depth camera, have a look at the sensors.yaml. Tweak these values as they are used by the self-filtering algorithm. My suggestions are:
near_clipping_plane_distance: shorter than the camera datasheet, otherwise the filter mask will be clipped and you will see OctoMap cubes in the middle of your robotfar_clipping_plane_distance: farther than the camera datasheetpadding_scale: 4.0 from the MoveIt tutorial works well for mepadding_offset: 0.03 from the MoveIt tutorial works well for meshadow_threshold: 0.2 I don't think it is used for filtering but could be helpfull for debugging the filtered_label topicGenerally, you can enable debug topics in move_group.launch by setting debug=true in move_group.launch. Then visualize the filtered_label and model_depth topics in RViz to tune your padding values.
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