Support map_msgs/OccupancyGridUpdate

[tomy983]

Description
In 3D and 3D beta panels, while visualizing move_base costmap 2D /move_base/local_costmap/costmap the uptades are very slow (0.02Hz). This is probably because Studio does not also subscribe to /move_base/local_costmap/costmap_updates.
Confronting Studio with RVIZ, in both adding the costmap to the scene is very similar, but rviz (without notice) also subscribe to the /move_base/local_costmap/costmap_updates topic and most certainly uses also this topic to update the costmap on the screen as i can see using rosnode info move_base

• Version: 1.18.0
• OS: windows
• ROS distro (if applicable): noetic

Steps To Reproduce
add costmap to the 3d scene in rviz and studio.

Current Experience
In Rviz the map updates are loaded into the costmap view. In studio the costmap is not updated unless a new map is received.

Desired Experience
The costmap in the 3D panel should take in considarition the updates coming from /move_base/local_costmap/costmap_updates of type map_msgs/OccupancyGridUpdate
(same thing for global costmap..)

[defunctzombie]

@tomy983 thanks for the issue report - could you share a bag file that will help us reproduce this issue. If you'd like to share privately you can email directly or DM me in slack.

[tonynajjar]

could you share a bag file that will help us reproduce this issue

@defunctzombie from this sentence I get the impression that costmap updates are indeed supported in Foxglove? I can't find any documentation about it.
Essentially my costmap is huge and I would like to save bandwidth by just sending updates and having Foxglove handle the updating in the background