or_octomap is a collision checker and sensor system plugin for OpenRAVE, intended to allow OpenRAVE meshes to be collision checked against octrees.

Two plugins are created:

or_octomap : A sensor system. When the "Enable" command is called, an OctomapServer is created which takes in new data from a point cloud. OpenRAVE objects can be filtered out of the octomap.

or_octomap_checker: A collision checker. or_octomap must be created and enabled first. Then, or_octomap_checker can be set as the collision checker. When this is done, all collision checks get tested against the octomap before they are tested against other OpenRAVE kinbodies.