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Adding Max update rate parameter for octomap updaters #920
Rapid updation of octomap was cousing various locking issues where the other nodes were not able to update the planning scene.
The callback is retured without excecution if the duration for maintaining the update rate is not maintained.
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Jun 3, 2018
Jun 11, 2018
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Is there any particular reason for adding this now (as in: A bottleneck with the updaters discovered lately)? I'm asking because after switching out sensors on a robot setup, it seems that the PointCloudOctomap Updater (16.04 Kinetic from .debs) runs extremely slow. Unfortunately, I don't have comprehensive test data for comparison, but it feels like there might be some sort of regression that makes octomap updates take very long time.