filtered_cloud is incorrect

[nyxrobotics]

Description

If you set debug to true in move_group.launch, you can see filtered_cloud in rviz This filtered_cloud automatically removes the robot's own model and the model of the scene added with rviz However, this model is not fully removed and there is a point cloud that is not removed as shown in the image

Your environment

• ROS Distro: [Kinetic|Melodic|Noetic]
• OS Version: e.g. Ubuntu 18.04
• Source or Binary build?
• If binary, which release version?
• If source, which branch?

Steps to reproduce

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Expected behaviour

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Actual behaviour

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Backtrace or Console output

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[nyxrobotics]

I think octomap is working correctly and only filtered_cloud seems to be wrong.

[nyxrobotics]

I found the cause. These processes were using OpenGL, and instead of “erasing the inside of the BOX”, they were “rendering the mesh of the BOX and erasing the back side of the mesh to the shadow_threshold distance”. The first image shows that the point cloud at a distance greater than shadow_threshold from the mesh in view has not been removed.

https://github.com/sbgisen/moveit/blob/051e3eddfc2928e06dcb7835d684f9cca203b80c/moveit_ros/perception/mesh_filter/src/stereo_camera_model.cpp#L165-L180

[nyxrobotics]

The problem seems to be solved by increasing shadow_threshold. However, the following issues need to be fixed

• There are some bugs
• Source code is hard to read.
• Debugging topics cannot be displayed in Rviz