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moveit / moveit_core

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Send Octomap diff instead of whole tree #255

Closed TheBrewCrew closed 8 years ago

TheBrewCrew commented 9 years ago

This enables Moveit to pass only the diff of the Octomap in a scene diff message when change detection is enabled on the Octree. This pull request depends on Octomap/octomap#85 to compile. DO NOT MERGE until the Octomap pull request is accepted. ros-planning/moveit_ros#602 is the corresponding pull request in Moveit ROS for enabling change detection on the Octomap.

dornhege commented 8 years ago

+1 for this.

However, this cannot be accepted as Octomap/octomap#85 will not be released for indigo due to ABI incompatibility. I'll prepare a pull request based on this that only requires Octomap/octomap#103, which should be releasable.

dornhege commented 8 years ago

Closing this in favor of ros-planning/moveit_core#274.