Summary

After #1086 the demo behavior now has somewhat close goals that will be avoided according to #915. This is acceptable but not ideal.

This hack was needed because the costmap is otherwise too large and the (de)serializing of it completely freezes the body behavior, making it's tick rate measured in multiple seconds per tick.

IMO all of these issues should be fixed:

• Make sure that it's possible to have a gigantic map without the costmap freezing up everything - potentially decreasing the costmap resolution.
• Modify the path planning such that the obstacles can be removed. Ideally they are data driven such that custom obstacles can be added from the yaml.
• Add a TPS monitor to the body_behavior such that it slowing down can be noticed easily. (otherwise this has quite non-obvious symptoms.