Octomap planning through tight, indoor spaces

[migsdigs]

Hi there,

I am trying to use data from a livox mid-360 lidar to build an Octomap, and then use the octomap for path planning in indoor environments. The problem I am having is that the map is identifying tight, but what should be traversable spaces (e.g. doorway) as occupied blocks/voxel. As such my drone will not navigate through these spaces. I have tried decreasing the resolution of the planning tree (e.g. 0.4 to 0.1) in the octomap_planner.yaml in mrs_octomap_planner and also the safe obstacle distances, among other things.

Is there anything else you can recommend to improve the map quality or to allow the drone to navigate more freely through tighter spaces?

Thanks!