Octomap through planning scene monitor

[Hemang Chawla]

Hi,

My objective is to get the updated scene octomap at a fast rate.

I am currently using the get_planning_scene service through the ros service request. However, it is very slow for regularly obtaining the collision octomap from the scene. This is as shown in answers.ros.org/question/256222/how-to-save-octomap-from-moveit/
However it is too slow for real-time use of the octomap

Client_get_planning_scene = nh.serviceClient<moveit_msgs::GetPlanningScene>("/get_planning_scene", true);
scene_srv.request.components.components = scene_srv.request.components.OCTOMAP;
if( Client_get_planning_scene.call(scene_srv) )
  {
    ROS_INFO("Planning_scene received");
    moveit_msgs::PlanningScene scene_msg = scene_srv.response.scene;
    octomap_msgs::OctomapWithPose octomap_pose = scene_msg.world.octomap;
    octomap_msgs::Octomap octomap = octomap_pose.octomap;
    octomap::AbstractOcTree* abstract_tree = octomap_msgs::msgToMap(octomap);
    collision_octree = (octomap::OcTree*)abstract_tree;
  }
  else
  {
    ROS_WARN("Failed to call service /get_planning_scene");
    nh.shutdown();
  }

Is there a faster way to do this?
There is an occupancy map monitor as well in moveit. Is that to be used? How?

Can the planning scene monitor be used?

  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  planning_scene_monitor_.reset( new planning_scene_monitor::PlanningSceneMonitor("robot_description") );
  const std::string PLANNING_SCENE_SERVICE = "get_planning_scene";
  planning_scene_monitor_->requestPlanningSceneState(PLANNING_SCENE_SERVICE);
  planning_scene_monitor_->startWorldGeometryMonitor();
  planning_scene_monitor::LockedPlanningSceneRW psrw = planning_scene_monitor::LockedPlanningSceneRW(planning_scene_monitor_);
  planning_scene::PlanningScenePtr scene = psrw;