Description

I'm experiencing an issue where the octomap generated by MoveIt 2 appears to move along with the robot, even though the MoveIt OccupancyMapUpdater seems to be set up correctly with the map frame as its reference. This leads to a situation where the octomap appears to "stick" to the robot as it moves, rather than remaining static in the global map frame. To isolate the issue, I tested the same scenarion with octomap_server2. In this case, the octomap remains perfectly static in the map frame, even as the robot moves. This suggests the problem is may be specific to how MoveIt 2 processes the octomap internally.

ROS Distro

Humble

OS and version

Ubuntu 22.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

humble

Which RMW are you using?

CycloneDDS

Steps to Reproduce

1. Launch a TIAGo robot simulation in ROS 2 Humble.
2. Configure MoveIt 2 to use the PointCloudOctomapUpdater.
3. Ensure that monitor_->getMapFrame() is set to map and RViz2 fixed frame is set to map.
4. Move the robot (either manually or via navigation stack).
5. Observe the octomap in RViz2.

Expected behavior

The octomap should remain fixed in the map frame, accumulating data over time as the robot moves, rather than updating relative to the robot's pose.

Actual behavior

The octomap shifts with the robot, as though it were being published or updated in the robot's local frame (e.g., base_footprint), not in a fixed global frame.

Backtrace or Console output

No response