update_frequency vs publish_frequency (costmap parameters)
I have a costmap_common.yaml
file which has update_frequency
and publish_frequency
parameters.
What is the significance of these parameters? I looked up costmap_2d wiki and found the following -
update_frequency
- The frequency in Hz for the map
to be updated.
publish_frequency
- The frequency in Hz for the map
to be publish display information.
What does map
in the above definitions refer to? Do they refer to the costmap
(global or local) or do they refer to the /map
topic?
the costmap for which the parameters are set.
What's the difference between
update_frequency
andpublish_frequency
?