or_octomap_plugin 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.

This package has been developed by CRI Group, Nanyang Technological University, Singapore.