fix: pointcould_octomap_updater not cleaning objects at max_range

Author: MarcoMagriDev

moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp

@@ -237,7 +237,7 @@ void PointCloudOctomapUpdater::cloudMsgCallback(const sensor_msgs::msg::PointClo
     return;
 
   /* mask out points on the robot */
-  shape_mask_->maskContainment(*cloud_msg, sensor_origin_eigen, 0.0, max_range_, mask_);
+  shape_mask_->maskContainment(*cloud_msg, sensor_origin_eigen, 0.0, max_range_ - monitor_->getMapResolution(), mask_);
   updateMask(*cloud_msg, sensor_origin_eigen, mask_);
 
   octomap::KeySet free_cells, occupied_cells, model_cells, clip_cells;