Added param to load Octomap from file at startup #604
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| @@ -303,6 +318,7 @@ bool OccupancyMapMonitor::loadMapCallback(moveit_msgs::LoadMap::Request& request | |||
| tree_->lockWrite(); | |||
| try | |||
| { | |||
| tree_->enableChangeDetection(false); | |||
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Is there any good reason to explicitly disable change detection here? This seems unrelated to the PR.
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Setting change detection to false is necessary to make this pull request properly interact with pull request #602.
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I might be missing something, but why isn't this part of #602 then? It seems unrelated to this feature as it goes into the loadMapCallback and that is already present in the original code.
In general - is this even required? The only problem that I see would be that a tree load with enabled change detection does not reflect the full tree change correctly.
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This merge should be held until after #636 is merged to prevent conflicts and also disable change detection initially if an octree is loaded with this mechanism. |
This adds a param (/move_group/octomap_file) that can be set to load a binary Octomap file (.bt) into the Octomap when the MapMonitor starts. The map can be created using the save_map script in move_group/scripts.