Hi,

I am using noetic ROS. I have a simulation scene with a crane moving and laser scanning the ground. Also I am using laserassembler node to create pointcloud from LiDAR and octomap server where the cloudin are the pointcloud generates by the laser_assembler node.

The ground is uneven. When I move the crane the ocuppiedcellvis_array are generated according the uneven ground but after some second a lot of them dissapear.

Link to video https://www.youtube.com/watch?v=9oPKthSIoD4