MoveIt Collision Avoidance With Point Cloud 2

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I'm having the same problem, so it did not work. I followed the steps of the link. Would you help me?

@Thadeu Brito please open a new question, instead of asking one on comment section that is not meant for new questions and that doesn't get as much attention as new questions.

I managed, using the perception pipeline, to have an octomap next to moveit and have it avoid static obstacles. The problem is that the octomap is only updated when the robot is not moving and cannot avoid new dynamic obstacles that get in the way during the execution of the move. I'm stuck here. I think it might be a solution to add collision objects to the planning scene from my pointcloud.