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OcTree bounding box pruning #599
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* Use planGraspsAndPick with empty string Make it possible to use planGraspsAndPick even though the user did not provide any object. Now, if planGraspsAndPick is called with an empty string then planGraspsAndPick is called again with an empty moveit_msgs::CollisionObject. This change causes trouble in the executeAttachObject function, because there is no object to be attached. The function returns false and the pick is being abborted after the grasp. Thus we just return true in that function when the id of the object is an empty string. * Empty string default value for planGraspsAndPick
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This adds an optional pruning size and height to the Octomap in MoveIt perception. This pull request depends on pull request #593. This feature is enabled if the octomap_size_limit param is set. octomap_height_limit can be set to specify a height limit on the Octomap. As the robot moves, the bounding box center will be set to the root link transform and then the Octomap will be pruned to fit inside the bounding box, marking data outside the bounding box unknown and freeing up memory. This will keep the Octomap to a reasonable size as the robot moves so that the Octomap can be passed across the network faster.