Open atzzy opened 5 years ago
Maybe there is an octomap setting that clears obstacles? I know the navigation package has parameters for that.
Related information: https://answers.ros.org/question/287390/
Unfortunately I was unable to find a simple solution to this. For my application I was able to pre-process the point cloud data before sending it to Moveit by converting all NaN values to be equal to the 'octomap_max_range' value. This should clear cells that are no longer occupied, however this increases the amount of ray-tracing required which can be computationally expensive.
I am running Ubuntu 16.04 LTS, ROS Kinetic and Gazebo 8.6 When I place an obstacle in gazebo, Moveit is able to detect the object and voxels are seen on RVIZ. However when I remove the object or shift the object, the voxels at where the object previously was does not clear or disappear. How can I get Octomap to update the map without having the clear the map everytime?
Object placed at Position A:
Object moved to Position B but RVIZ still shows object at Position A:
I am facing exactly the same issue. Right now, rosservice call /clear_octomap
is the only workaround for me.
Is there any better way of doing this?
Configuration: ROS melodic and Ubuntu 18.04
I am running Ubuntu 16.04 LTS, ROS Kinetic and Gazebo 8.6 When I place an obstacle in gazebo, Moveit is able to detect the object and voxels are seen on RVIZ. However when I remove the object or shift the object, the voxels at where the object previously was does not clear or disappear. How can I get Octomap to update the map without having the clear the map everytime?
Object placed at Position A:![screenshot from 2018-09-02 14-52-45](https://user-images.githubusercontent.com/42905398/44953026-fa87f200-aebf-11e8-9dbf-fe4aaa9bab8c.png)
Object moved to Position B but RVIZ still shows object at Position A:![screenshot from 2018-09-02 14-53-03](https://user-images.githubusercontent.com/42905398/44953031-0a073b00-aec0-11e8-8cc9-7df92fc4c5d0.png)