Question on paper and code #2
Description
In exploration planning iteration, do we need to run command rosservice call /bsp_planner '{header: {stamp: now, frame_id: world}}' for each iteration?
For example, after current configuration x move to the viewpoint followed by two-step belief space-based approach, do we need to run rosservice call /bsp_planner '{header: {stamp: now, frame_id: world}}' again to trigger new exploration at new configuration manually?