message: make publish_pointclouds param grip for external map updates
diff: @@ -240,9 +240,11 @@ void EsdfServer::esdfMapCallback(const voxblox_msgs::Layer& layer_msg) {
  ROS_ERROR_THROTTLE(10, "Got an invalid ESDF map message!");
  } else {
  ROS_INFO_ONCE("Got an ESDF map from ROS topic!");
  + if (publish_pointclouds_) {
  publishPointclouds();
  }
  }
  +}
  void EsdfServer::clear() {
  esdf_map_->getEsdfLayerPtr()->removeAllBlocks();
  