How to Inflate Occupied Position Of Octomap

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I am using octomap as path planning mapping tool. Everything works fine except for robot size. I wonder is there any method that I can inflate the octomap occupied position by robot radius so that I can I solve this problem?

I tried to search something, it seems matlab has their own octomap inflation function: https://www.mathworks.com/help/nav/re... Is there something similar to this in ros/C++?

If not, what is the common way to check the robot state if we need to consider robot size (Let's assume it is a ball with radius r) using Octomap Mapping?

Thanks in advance!!!