Added param to load Octomap from file at startup - #604
Conversation
There was a problem hiding this comment.
Is there any good reason to explicitly disable change detection here? This seems unrelated to the PR.
There was a problem hiding this comment.
Setting change detection to false is necessary to make this pull request properly interact with pull request #602.
There was a problem hiding this comment.
I might be missing something, but why isn't this part of #602 then? It seems unrelated to this feature as it goes into the loadMapCallback and that is already present in the original code.
In general - is this even required? The only problem that I see would be that a tree load with enabled change detection does not reflect the full tree change correctly.
|
This merge should be held until after #636 is merged to prevent conflicts and also disable change detection initially if an octree is loaded with this mechanism. |
2 participants
This adds a param (/move_group/octomap_file) that can be set to load a binary Octomap file (.bt) into the Octomap when the MapMonitor starts. The map can be created using the save_map script in move_group/scripts.