Hey everyone,
I have the following problem with MoveIt & DepthImageOctomapUpdater:
I have a Kinect looking at my robot-arm. For the self-detection to work properly, I need to set pretty big padding values in the sensors_rgbd.yaml. That's not ideal, but ok for me. But now the robot is standing on a table, which I also add as a collisionObject. Once it's added it gets the same high padding values. This leads to objects disappearing in the octomap, once they are placed on the table.
Is there a way to tell moveIt to only apply the generous padding to the robot and not to the collisionObjects?
Also, would some of you mind explaining me the difference between `padding_scale` and `padding_offset`? I couldn't quite make reason out of the explanation in the [wiki](http://moveit.ros.org/wiki/3D_Sensors).
Thanks in advance,
Rabe
sensors:
- sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
image_topic: /camera_top/depth/image_raw
queue_size: 15
near_clipping_plane_distance: 0.65
far_clipping_plane_distance: 2.0
skip_vertical_pixels: 3
skip_horizontal_pixels: 3
shadow_threshold: 9.0
padding_scale: 7.5
padding_offset: 0.07
filtered_cloud_topic: output_cloud
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