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costmap2d voxel layer doesn't clear?

Hi everyone,

I am using a PointCloud2 source for my costmap2D. I have done extra filtering to remove the ground from the estimate. I am seeing the voxel layer "hold on to" points and not clearing them despite it not seeing anything in that area. If my research is correct I see that to clear a voxel it must see a point through that point? Since I have removed the ground can I just have the costmap trust the estimate more? Essentially I just want my Pointcloud squished into a 2D costmap for movebase, I don't want the voxel layer to remember things and think it's smart.

Thanks :)