Limit the size of the octomap coming from RTABMap?
Hello,
Ideally we would like to limit the size of the octomap coming from RTABMap such that it stays within a certain size (or takes a certain amount of time to update). The parameter Rtabmap/TimeThr seems to do what we are looking for in RTABMap Viz, but is it possible to only publish the octomap correlated to what we see in the visualizer? (e.g., only publish an octomap from the "working memory")
Thank you!