From 0cd38040b619ba16f3d7ded61ef824bb5af77c91 Mon Sep 17 00:00:00 2001
From: Matt Vollrath <matt@endpoint.com>
Date: Thu, 17 Jan 2019 12:42:02 -0500
Subject: [PATCH] Use CBOR by default for OccupancyGrid

Proven faster for non-homogeneous data.
---
 src/navigation/OccupancyGridClient.js | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/navigation/OccupancyGridClient.js b/src/navigation/OccupancyGridClient.js
index 44620d4c..a215e76a 100644
--- a/src/navigation/OccupancyGridClient.js
+++ b/src/navigation/OccupancyGridClient.js
@@ -16,6 +16,7 @@
  *   * topic (optional) - the map topic to listen to
  *   * continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
  *   * tfClient (optional) - the TF client handle to use for a scene node
+ *   * compression (optional) - message compression (default: 'cbor')
  *   * rootObject (optional) - the root object to add this marker to
  *   * offsetPose (optional) - offset pose of the grid visualization, e.g. for z-offset (ROSLIB.Pose type)
  *   * color (optional) - color of the visualized grid
@@ -26,6 +27,7 @@ ROS3D.OccupancyGridClient = function(options) {
   options = options || {};
   this.ros = options.ros;
   this.topicName = options.topic || '/map';
+  this.compression = options.compression || 'cbor';
   this.continuous = options.continuous;
   this.tfClient = options.tfClient;
   this.rootObject = options.rootObject || new THREE.Object3D();
@@ -56,7 +58,7 @@ ROS3D.OccupancyGridClient.prototype.subscribe = function(){
     ros : this.ros,
     name : this.topicName,
     messageType : 'nav_msgs/OccupancyGrid',
-    compression : 'png'
+    compression : this.compression
   });
   this.rosTopic.subscribe(this.processMessage.bind(this));
 };