GitHub - Notou/Moveit-External-Octomap-Updater

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Name		Name	Last commit message	Last commit date
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example_config_files		example_config_files
include/moveit_external_octomap_updater		include/moveit_external_octomap_updater
src		src
CMakeLists.txt		CMakeLists.txt
README		README
moveit_external_octomap_updater_plugin_description.xml		moveit_external_octomap_updater_plugin_description.xml
package.xml		package.xml

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This package is a plugin to the OccupancyMapUpdater class of moveit.

It allows moveit to use an externally computed binary octomap.

It works by simply replacing the (eventual) content of the internal octree by the content of the message.
So it would not really work alongside another plugin like the PointCloudOctomapUpdater...


This plugin has been done as a quick and dirty hack so if you want to contribute, correct errors... please do.