/clear_octomap service does not update the octomap properly in MoveIt2

[Danilrivero]

Description

Directly related to the following solved issues from MoveIt.

moveit/moveit#3380
moveit/moveit#3134

When the pcd topic does not publish, the "clear octomap" option in MotionPlanning from rviz2 will not clear the map. If the pcd topic does publish, the map will update based on the pcd and can't be cleared completely. In the move_group's PS, the octomap is correctly cleared even though it seems not to update through rviz2. @rhaschke may have information on this looking at his PR in MoveIt.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? Binary
• If binary, which release version? 2.5.5-1
• Which RMW (Fast DDS or Cyclone DDS)? Cyclone DDS

Steps to reproduce

Publish a pointcloud using the sensors_3d.yaml module for the generation of the octomap. The generated octomap will not clear entirely unless updated at the same time through the publishing of a new pcd (moreover always having a PS containing octomap parts).

Expected behaviour

When calling the "/clear_octomap" service the module should clear the octomap even though it would presumably update within the next update if pcd is being published.

Actual behaviour

The module does not update the octomap unless being updated with the publishing of a new pcd.

Backtrace or Console output

Usage of the following configuration file: sensors_3d.yaml.

Seems like it requires to sync the PR made in MoveIt to MoveIt2.

[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.

[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.