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Enable Octomap diff - #636
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This was referenced Jan 15, 2016
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| /** \brief Enable sending diffs of the occupancy map */ | ||
| void enableOctomapDiff(bool enable) { octomap_diff_enable = enable; } |
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brackets, code line, etc should be on separate lines like the rest of this file and per ros style guidelines
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Should this function be named setOctomapDiff(bool enable)?
Personally, I find enableXYZ(false); calls a bit weird. No hard feelings though.
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+1 sounds better to me.
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This is essentially #602 by @TheBrewCrew, which now also handles loading maps via the service correctly.
When the ROS parameter /move_group/octomap_diff is enabled, change detection is the OctoMap is enabled and only diffs are send instead of complete OcTrees.
This requires moveit/moveit_core#302 to work.