matlabbe

Are there obstacles cleared that should still be there? It should not clear obstacles that are still there, however if the obstacles is moving, it may clear where the objects...

If you are using `Grid/3D=false`, some obstacles can be cleared like that. If you want to make sure that all obstacles that are not seen remain, set `Grid/3D` to true.

Depending on the voxel size (`Grid/CellSize`) and how thin an obstacle is, it could be ray traced even in 3D. If you have a database to share, I could look...

The db files are empty. You can share also using a public dropbox or google drive link.

Which 2D occupancy grid map are you looking at? I replayed the 3D version and I show here the default 2D grid assembled and the one created from the OctoMap...

If the local grid is computed from the depth image, see `Grid/` parameters. These are used to generate the point cloud. Maybe your camera is giving the full dense point...

We used a custom 3D planning approach for that [paper](https://www.researchgate.net/publication/362336640_TAPE_Tether-Aware_Path_Planning_for_Autonomous_Exploration_of_Unknown_3D_Cavities_using_a_Tangle-compatible_Tethered_Aerial_Robot), but the code was not released as open source. However the planner was not meant for real-time object avoidance like...

Parameters `Rtabmap/MemoryThr` and `Rtabmap/TimeThr` enable memory management of RTAB-Map. If you want to keep the global map, you would need to disable this and tune other parameters to reduce increasing...

The TPP planning process is started when `goal_node` or `goal` callbacks are called. The feedback to know if the goal has been reached or not is published on topic `goal_reached`...

For rtabmap node, you can update parameters directly with `set_parameters` ros service. Under the hood, the RTAB-Map's parameters will be handled: https://github.com/introlab/rtabmap_ros/blob/57dd787a589ab40c75b43f1ed72084858440f107/rtabmap_slam/src/CoreWrapper.cpp#L855-L911 For odometry nodes, there is also a `set_parameters`...