I want to make it an option whether to delete all scene objects from octomap or not

[nyxrobotics]

For example, when removing an object from a shelf, you do not want to exclude it from the octomap because you want to avoid the shelf as an obstacle. However, we want to exclude the object to be grasped from the octomap. Also, when placing an object somewhere, we want to exclude the support surface from the octomap. We would like to create a mechanism that allows us to remove the octomap only for the specified area or objects. First, to prevent all scenes from being removed from the octomap, we need to be able to disable this function with a parameter.

[nyxrobotics]

The octomap around the model is removed in the following section https://github.com/sbgisen/moveit/blob/051e3eddfc2928e06dcb7835d684f9cca203b80c/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp#L768