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[cpt_deviation_analysis] review number of published topics #45

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hermannsblum opened this issue Sep 20, 2019 · 1 comment
Open

[cpt_deviation_analysis] review number of published topics #45

hermannsblum opened this issue Sep 20, 2019 · 1 comment

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@hermannsblum
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hermannsblum commented Sep 20, 2019 •
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A lot of meshse and pointclouds are published between the deviation node and the selective_icp node and external. Review what is necessary and how to reduce bandwith usage in communication between the two nodes.
@jstiefel
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In addition, check number of subscribers with publisher.getNumSubscribers() and don't publish if there are no subscribers.

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@hermannsblum @jstiefel