# Different padding for different objects?

Hey everyone,

I have the following problem with MoveIt & DepthImageOctomapUpdater:

I have a Kinect looking at my robot-arm. For the self-detection to work properly, I need to set pretty big padding values in the sensors_rgbd.yaml. That's not ideal, but ok for me. But now the robot is standing on a table, which I also add as a collisionObject. Once it's added it gets the same high padding values. This leads to objects disappearing in the octomap, once they are placed on the table.

Is there a way to tell moveIt to only apply the generous padding to the robot and not to the collisionObjects? Also, would some of you mind explaining me the difference between padding_scale and padding_offset? I couldn't quite make reason out of the explanation in the wiki.

Rabe

sensors:
- sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
image_topic: /camera_top/depth/image_raw
queue_size: 15
near_clipping_plane_distance: 0.65
far_clipping_plane_distance: 2.0
skip_vertical_pixels: 3
skip_horizontal_pixels: 3