Description

After calling the /clear_octomap service, the MotionPlanning RViz plugin have to be reloaded (uncheck and re-check the plugin, or remove/add), for the octomap to disappear from the Planning Scene.

The same happens if an empty octomap is loaded from a file via /move_group/load_map (the old octomap is still shown until the plugin is reloaded). The empty map is generated via /move_group/save_map on a fresh scene.

The same behaviour is present when calling the /apply_planning_scene service with an empty octomap:
(untested code, it is a minimal version of the actual code I use)

get_planning_scene = rospy.ServiceProxy('/get_planning_scene', GetPlanningScene)
components = PlanningSceneComponents()
components.components = sum([
    PlanningSceneComponents.WORLD_OBJECT_NAMES,
    PlanningSceneComponents.WORLD_OBJECT_GEOMETRY,
    PlanningSceneComponents.OCTOMAP
])
ps = get_planning_scene(components)
ps = ps.scene  # moveit_msgs/PlanningScene
ps.is_diff = True
ps.world.octomap = OctomapWithPose()
apply_planning_scene = rospy.ServiceProxy('/apply_planning_scene', ApplyPlanningScene)
apply_planning_scene(ps)

I am not sure if any of these 3 methods of clearing the octomap are related, but I thought I'd just as well report all the similar issues I've run into.

Your environment

• ROS Distro: Noetic
• OS Version: Pop!OS
• Built from source, branch master (moveit repo is on commit e7b388d)
• The behaviour seems to be the same on moveit 1.1.7 from apt on Pop!OS 20.04

Steps to reproduce

• Start RViz and moveit
• Load/scan any octomap
• Call service /clear_octomap

Expected behaviour

I would expect the octomap to disappear from the Planning Scene after the service is called.

Actual behaviour

The octomap is still shown until I reload the MotionPlanning plugin.