{"action":"created","issue":{"url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/315","labels_url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/315/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/315/comments","events_url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/315/events","html_url":"https://github.com/ros-planning/moveit_ros/issues/315","id":19959521,"number":315,"title":"[perception] octomap not properly cleared when collision model is added","user":{"login":"bit-pirate","id":1136833,"avatar_url":"https://avatars.githubusercontent.com/u/1136833?v=3","gravatar_id":"","url":"https://api.github.com/users/bit-pirate","html_url":"https://github.com/bit-pirate","followers_url":"https://api.github.com/users/bit-pirate/followers","following_url":"https://api.github.com/users/bit-pirate/following{/other_user}","gists_url":"https://api.github.com/users/bit-pirate/gists{/gist_id}","starred_url":"https://api.github.com/users/bit-pirate/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bit-pirate/subscriptions","organizations_url":"https://api.github.com/users/bit-pirate/orgs","repos_url":"https://api.github.com/users/bit-pirate/repos","events_url":"https://api.github.com/users/bit-pirate/events{/privacy}","received_events_url":"https://api.github.com/users/bit-pirate/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ros-planning/moveit_ros/labels/bug","name":"bug","color":"fc2929"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":15,"created_at":"2013-09-24T07:03:02Z","updated_at":"2016-01-18T13:23:30Z","closed_at":null,"body":"When adding collision models into the planning scene, the octomap voxels covered  by the shape of the collision object don't get properly cleared (some remain).\r\n\r\nThis issues is described in more detailed (including pictures) on the mailing list: https://groups.google.com/forum/#!topic/moveit-users/T2feBu5uNos\r\n\r\nI'm not sure, if this is a bug in the code, a performance issue or a wired synchronisation problem."},"comment":{"url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/comments/172526325","html_url":"https://github.com/ros-planning/moveit_ros/issues/315#issuecomment-172526325","issue_url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/315","id":172526325,"user":{"login":"dornhege","id":2634308,"avatar_url":"https://avatars.githubusercontent.com/u/2634308?v=3","gravatar_id":"","url":"https://api.github.com/users/dornhege","html_url":"https://github.com/dornhege","followers_url":"https://api.github.com/users/dornhege/followers","following_url":"https://api.github.com/users/dornhege/following{/other_user}","gists_url":"https://api.github.com/users/dornhege/gists{/gist_id}","starred_url":"https://api.github.com/users/dornhege/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dornhege/subscriptions","organizations_url":"https://api.github.com/users/dornhege/orgs","repos_url":"https://api.github.com/users/dornhege/repos","events_url":"https://api.github.com/users/dornhege/events{/privacy}","received_events_url":"https://api.github.com/users/dornhege/received_events","type":"User","site_admin":false},"created_at":"2016-01-18T13:23:30Z","updated_at":"2016-01-18T13:23:30Z","body":"From what I've seen the explanation by @isucan is the correct one. It also seems that this problem is  more prevalent in simulation as on the real robot sensor noise helps to cover all voxels to be removed.\r\n\r\nGiven, how it is currently implemented I believe that the suggestion by @skohlbr is actually the best one. This could be done by a dummy octomap updater that doesn't listen to any sensors, but only handles excludeShape. This could remember the already excluded shapes and thus only perform this once."}}