Standalone converter should subscribe to costmap updates

[sloretz]

With the default behavior of costmap_2d, the standalone converter appears to do nothing. No polygon markers are published. This is because he standalone converter subscribes only to the topic /move_base/local_costmap/costmap

By default the costmap is published once on that topic, and then forever as updates on /move_base/local_costmap/costmap_updates. The static_layer in costmap_2d has an example of subscribing to updates

A workaround is to set the parameter always_send_full_costmap on the local_costmap to True.

[doisyg]

I would be interested to know more about this issue. I also subscribe do costmap_updates when using a standalone costmap.
Is there another possible mechanism for costmap updates? Like when everything is running in the same node I guess that's the costmap pointer which is passed?

[croesmann]

thanks a lot. Fixed.
@doisyg: I am also not aware of any other mechanism in case everything is running in the same node. E.g. in the navigation stack, we have access to the costmap pointer as you said.