RTAB-Map Octomap for ROS MoveIt with dynamic objects and self-filtering

Posted by robertzickler on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-Octomap-for-ROS-MoveIt-with-dynamic-objects-and-self-filtering-tp6884.html

Hello everybody,
I'm working with an UR10 with an Intel Realsense D435i mounted on the endeffector. I'm using ROS Melodic.
What I want: Getting the (awesome!!) rtabmap pointcloud/octomap in ROS MoveIt for the path planning of the robot.
What is the problem: I either get dynamic objects removed or the self-filtering of the robot done never both at the same time.
What I tried:
1) Using the setup Assistant for MoveIt to get the Octomap in the planning scene (3D perception).
Result: Working with self-filtering but dynamic Objects are not updated, even when I use /rtabmap/octomap_occupied_space

2) Using an Octomap Server
Result: No self-filtering. Maybe I could go deeper in here but not sure how to do the self-filtering.

3) Using the package Moveit-External-Octomap-Updater (https://github.com/Notou/Moveit-External-Octomap-Updater)
Result: Dynamic Octomap but no self-filtering.

One more (little) problem: When using the "Clear octomap"-button in RViz nothing is happening.

I would appreciate if someone could point me in the right direction where to go next. Or is there a param I can tweak in the rtabmap settings to get a good map with dynamic objects?

Thank you very much
Robert