Computational time difference Depth/Pointcloud octomap updater plugins

[MarcoMagriDev]

Description

Huge computational time mismatch between the two octomap generation plugins (depth/pointcloud).
After digging in a bit i found that the main computational time difference comes from lazy_free_space_updater but unfortunately I have not time to fix it.

ROS Distro

Humble

OS and version

Ubuntu 22.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

No response

Which RMW are you using?

CycloneDDS

Steps to Reproduce

Configure Moveit with a camera sensor that provides both depth image topic and pointcloud topic (i.e. RealsenseD435)
First configure the depth plugin only and test on a dynamic scene what happen when the scene needs to be cleaned-up (objects desappear)
Then repeat the same experiment using the pointcloud pluing.

Expected behavior

The execution time taken by the two methods should be comparable

Actual behavior

The depth_octomap_updater_plugin takes much more when the lazy_updater is triggered.

Backtrace or Console output

No response