+1 for making a REP for this.
:wq from Android
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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