octomap updater left some voxels after the object is moved

asked 2020-09-17 02:45:34 -0600

xibeisiber gravatar image

Hi all,

I'm using moveit! to pick and place bottles. The environment (table and bottles) is represented as octomap.

I found that sometimes after the bottle moves, there are still some voxels belonging to this bottle left unmoved for a long time. (picture below). This may cause failure of planning afterwards due to the collision with these voxels that should not be there anymore. I tried to call the "/clearOctomap" service to clear all the octomap. But it will cost lots of resources to rebuild the octomap. Any suggestions to this? Thanks!

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