How to apply octomaps' ground filter to MoveIt?

asked 2020-04-16 04:39:09 -0600

Hi folks,

I am trying to find a way to apply the ground_filter to my planning scene in moveit.

I have two cameras, where i aligned the images via PCL's nlicp and configured my sensor.yaml in moveit. At the sensor_manager.launch.xml i can set some octomap parameters, however, i dont know how i can set the filter_ground param for octomap. It seems, that these are different parameters compared to octomaps' octomap server.

Is there a way to apply the goundfilter or how can i use a own octomap server instead of the moveit_build in?

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