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Yes, there is a self filter. You need to create a moveit package for your robot and then create a sensors_rgbd.yaml in your moveit config folder.

sensors_rgbd.yaml:

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /kinect/depth_registered/points
    max_range: 4.0
    frame_subsample: 1
    point_subsample: 10
    shape_padding: 0.03
    shape_scale: 1.0
    filtered_cloud_topic: filtered_cloud

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