Adding octomap data to planning scene

asked 2021-04-16 00:26:54 -0600

FSund gravatar image

How would I go about adding some stored octomap data to the current planning scene, without overwriting the current octomap?

I've found out I can load an octomap using move_group/load_map, but this seems to overwrite the whole map.

I also tried publising the octomap to the planning_scene topic, but this data disappears the next frame when I have a depth sensor running.

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