Does the MoveIt plugin occupancy_map_monitor/PointCloudOctomapUpdater remove point clouds that fall inside /planning_scene collision objects — and is this the expected behavior?

[pu9730962]

I used the MoveIt plugin (as shown in the code) to filter the raw point cloud /camera_1/points into /camera_1/filtered_points. However, I found that in addition to removing the points that fall within the robot arm’s URDF, it also removes the points that fall inside the obstacles defined in /planning_scene collision_objects. I would like to know if it is possible to adjust the configuration so that only the points within the robot arm’s URDF are filtered out.

sensors:
  - camera_1_pointcloud

camera_1_pointcloud:
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /camera_1/points
    max_range: 8.0
    point_subsample: 3
    padding_offset: 0.15
    padding_scale: 1.0
    max_update_rate: 2.0
    filtered_cloud_topic: /camera_1/filtered_points

The point cloud of the obstacle (white part)

If I add the obstacle in advance to /planning_scene collision_objects (green part), the corresponding point cloud disappears.