How to get static map?

[ThinkPig826]

Hi, I am using octomap to build a map recently, and found that dynamic objects cannot be removed. Should I get a static map first? How did you get the static map you used? Thank you ！

[ahornung]

In this example, two distinct maps were used. The static map was created manually beforehand with a CAD model.

[ThinkPig826]

I want to eliminate dynamic targets, is static map necessary? Thanks again

[Kin-Zhang]

Maybe these two issues could be linked together: #411

I have implemented one: https://github.com/Kin-Zhang/octomap removing dynamic points and saving static maps based on octomap, you can check the effect on README.