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OctoMap / octomap_mapping

ROS stack for mapping with OctoMap, contains octomap_server package
http://www.ros.org/wiki/octomap_mapping
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Can OctoMap unoccupy? #62

Closed bomarali closed 4 years ago

bomarali commented 4 years ago

Does OctoMap work with dynamic objects at all? Say if I want to grasp an object and move it, will the OctoMap reflect the change? So far I have been playing with sensor model but I cannot seem to make the OctoMap forget the original position of the object.

ahornung commented 4 years ago

There is no explicit decay or labeling of dynamic objects. For an object to clear, you need to see a sufficient number of points in the background behind the removed object, or modify the code to use "maxrange" readings for clearing only. A tweaked sensor model helps to clear an object faster.

bomarali commented 4 years ago

My bad, I transformed the point cloud to a different frame before feeding into the octomap server.

murikill commented 3 years ago

I'm still having the same issue - dynamically objects won't removed. I think, there are enough points in the background, but the cells doesn't disappear. What do I wrong? Thank you! octomap

jarvisyjw commented 3 years ago

I'm still having the same issue - dynamically objects won't removed. I think, there are enough points in the background, but the cells doesn't disappear. What do I wrong? Thank you! octomap

Have you solved it? I am facing the same thing.