Hello all,
I'm using moveit to plan path for quadrotor in gazebo, and the quadrotor has a floating joint with /world. While the quadrotor flys following the trajectory, the rgbd sensor on it can find new obstacle and the octomap will be updated. But when the new obstacle is in the path of quadrotor, it will ignore the obstacle and hit the obstacle even if the "allowingreplanning" is checked.
How do I do to make it replan a new trajectory? Or I misunderstand the replan function of moveit.
If someone knows about it, please help me!
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