This commit makes two changes:
1) It adds a new publisher publishing a visualization_msgs/MarkerArray. The benefit of this is to have a publisher that publishes all regions separately as a vector for processing in downstream applications rather than one long list of points.
2) All code to generate the output for publishing and the message publishing is now performed lazily: It is only carried out when there is at least one subscriber to the publisher/topic. This reduces the computation time by not creating data structures that aren't needed.
wxmerkt
commented
2 years ago
This commit makes two changes: 1) It adds a new publisher publishing a visualization_msgs/MarkerArray. The benefit of this is to have a publisher that publishes all regions separately as a vector for processing in downstream applications rather than one long list of points. 2) All code to generate the output for publishing and the message publishing is now performed lazily: It is only carried out when there is at least one subscriber to the publisher/topic. This reduces the computation time by not creating data structures that aren't needed.
I'll go ahead and merge once CI goes green.