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Send Octomap diff instead of whole tree #274
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This is essentially #255 by @TheBrewCrew with some minor fixes.
The main reason is that in indigo we can only depend on OctoMap/octomap#103 and not OctoMap/octomap#85. This is handled in 28a6eb4. OctoMap/octomap#103 is already released as 1.6.9 in indigo (currently only shadow-fixed) and thus this can be merged once it is active.
I have left my additions as individual commits, so it is clear for reviewing this, what I changed.
I can also squash them in the original commits before merging, if someone gives me the go-ahead.
The corresponding pull request is moveit_ros is moveit/moveit_ros#636.