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Send Octomap diff instead of whole tree - #255
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This should probably be sizeof(float) instead.
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+1 for this. However, this cannot be accepted as OctoMap/octomap#85 will not be released for indigo due to ABI incompatibility. I'll prepare a pull request based on this that only requires OctoMap/octomap#103, which should be releasable. |
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Closing this in favor of #274. |
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This enables Moveit to pass only the diff of the Octomap in a scene diff message when change detection is enabled on the Octree. This pull request depends on OctoMap/octomap#85 to compile. DO NOT MERGE until the Octomap pull request is accepted. moveit/moveit_ros#602 is the corresponding pull request in Moveit ROS for enabling change detection on the Octomap.