Hi,
I've started using octomap. Basically I've been working with `octomap_server` and it's `octomap_mapping.launch` file. I'm basically transforming my laser scan data into `pointcloud2` and then publishing it on topic which is used by `octoma_server`.
What I've found is that when there is some obstacle, it really determines it as obstacle. But when that same obstacle disappears, those occupied probabilities don't change and free space is considered as occupied forever.
I want to update all voxels probabilities before the end of laser beam so that after few cycles free space is considered as free space again. Because right now I think that with `pointcloud` voxels are just updated right in the place where given `pointcloud` is, but not in space between my robot and point.
Do I have to implement it on my own and where should I start? Or is there some other way of doing this? Or is my expectation about how this works wrong?
Thank you for advice.
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