/clear_octomap service does not update the octomap properly in MoveIt2 about moveit2

[Danilrivero]

Hi, what do you use for planning? MoveItCpp in your node or a standalone move_group node?

The button in rviz plugin triggers /clear_octomap service which is a capacity in move_group node. If you are using MoveItCpp inside your own node, use moveit_cpp->getPlanningSceneMonitorNonConst()->clearOctomap();to clear the octomap.

In this case I use the standalone move_group node. I have verified that by constantly updating the octomap, this is, constantly publish a pointcloud to the defined topic inside the sensors_3d.yaml it will properly clear due to the octomap constantly being updated.

[patrickKXMD]

Hi, what do you use for planning? MoveItCpp in your node or a standalone move_group node?

The button in rviz plugin triggers /clear_octomap service which is a capacity in move_group node.
If you are using MoveItCpp inside your own node, use moveit_cpp->getPlanningSceneMonitorNonConst()->clearOctomap();to clear the octomap.