MonkeyZhang

I modified the `planner server` and `controller server` so that they can specify a different Costmap for each planner (for example, the path planning for target tracking requires the rolling...

> > I modified the planner server and controller server so that they can specify a different Costmap for each planner > > I think your core issue there is...

> Correct - this is only to add the option to update only upon an algorithm request and not instead by a regular update thread. > > So there should...

> expected update rate is HZ , and the meaning in isCurrent() is Time Duration. ``` ~//expected_update_rate (double, default: 0.0) How often to expect a reading from a sensor in...