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Hello @renatojmsdh , Please let us know if we can provide further details for your analysis. Thanks Regards germal

Hello @renatojmsdh , @ericksonrn , @michelmelosilva After a careful analysis of my colleagues more expert than me , seems that there is no issue indeed, your reasearch code works only...

Hello @2014gaokao Could you please send me the link of the file ? Thanks germal

@zentala Hello I have the same exact issue of obstacle clearing with a d435 RGBD camera at 70cm with my voxel_layer on Melodic.Did you manage to resolve it ? Thanks

@facontidavide Thank you very much , I will try soon !