> Of course ; the question was whether the node should re-publish a map
> that has not changed or only publish it next time it changes. When maps
> are huge (our search-and-rescue mapping using modular_cloud_matcher has
> maps of 600k points), repetitive updates of similar maps is a waste of
> bandwidth. I have added a "~republish_map" service to do on-demand
> republishing, which is useful, for instance if rviz was loaded after the
> map was published.

I have removed this option and instead enforced the map topics to be 
latched.


-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net