ros-planning/moveit_ros — pull request #530 by davetcoleman (2014-11-18 20:47:02+00:00)
Title: Filter Point Cloud without Occupancy Map

This new plugin allows you to republish a point cloud that has filtered out the robot's links, and it run much faster than the current occupancy map filter since it does not use the occupancy map.

See https://github.com/ros-planning/moveit_ros/pull/523#issuecomment-63455744