Sparse Vertex Cost Message for Cost Updates and Rviz Support for Dynamic Updates#60
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amock merged 4 commits intonaturerobots:feature/dynamic-cost-updatesfrom Aug 5, 2025
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amock
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Cakem1x
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@JustusBraun Thanks for the first update! :)
Looking good, just found a typo in this filename (save vs safe), could you fix that? (maybe as part of the next PR if one is coming)
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Oh yes, I will do that :D
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This PR adds support for dynamically updating the VertexCosts displayed in RViz using sparse vertex cost messages, which contain only the changed vertices.
The update messages are received on a separate topic that defaults to
/path/to/cost/topic/updates.RViz updates the displayed cost map once every second.