While profiling octomap, the "insertScan" method is fairly consistent at <1 ms on each run, publishAll however can drift up to 30 ms + with no new options. With publish crossSection it approaches 40 ms + and grows with map size. To try to get things more deterministic I added a 100 ms publish rate to keep CPU usage down.
While profiling octomap, the "insertScan" method is fairly consistent at <1 ms on each run, publishAll however can drift up to 30 ms + with no new options. With publish crossSection it approaches 40 ms + and grows with map size. To try to get things more deterministic I added a 100 ms publish rate to keep CPU usage down.