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Hi Felix,

Sorry - only just had a chance to try this out. Works like a charm. Thanks a lot for adding that feature. Exactly what I needed! As you say it doesn't fix the crashing problem that I've been having with octomap_server running so producing maps in realtime still isn't really an option but the localisation side of things works great. Interesting about the mutex - I'll have a look too but probably a bit over my head. Would obviously still be extremely interested if you found a solution!

Thanks again,

James