Inflated self robot link removal from Octree

[Ayush1285]

Is your feature request related to a problem? Please describe.

I'm using PoinCloudOctomapUpdater plugin for building Octomap of the environment for collision checking. Problem that I'm facing is that there are few tool wires around robotic arm which are getting registered in Octree. I was able to fix it using padding and subsample parameters, but that is affecting quality of whole environment Octomap.

Describe the solution you'd like

We can declare a parameter called something like robot_link_inflation with default value to be 1.0. Then in PlanningSceneMonitor::excludeRobotLinksFromOctree(), we can inflate the meshes according to this parameter.
I can submit a PR, if this works for maintainers.

Describe alternatives you've considered

No response

Additional context

No response