+1 for making a REP for this.

:wq from Android
On Oct 5, 2012 2:39 PM, "Stéphane Magnenat" <stephane.magnenat@mavt.ethz.ch>
wrote:

> 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
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