ros-planning/navigation — pull request #79 by hershwg (2013-06-27 00:27:51+00:00)
Title: Changed costmap_2d_publisher from latched topic to one that republishes the latest full costmap to each new subscriber.

Previously this would only publish the full costmap once at the beginning, but that did not catch various configuration changes, so it would be stale. This way whenever you disable the rviz display and re-enable it, you get a fresh copy of the latest full costmap.