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HKUST-Aerial-Robotics / FIESTA

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots
MIT License
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Very slow visualization update #12

Open pauljurczak opened 4 years ago

pauljurczak commented 4 years ago

I've just built FIESTA on Ubuntu 18.04 with ROS Melodic and I'm getting very slow grid updates when running cow_and_lady example on a fast CPU . UpdateESDF text messages to terminal take a few seconds to advance. Perhaps RViz is really slow with PointCloud messages, which I observed on another occasion. Is there a headless (no display) test of FIESTA available?

frapit commented 4 years ago

I am also wondering about the real-time performance. You can change the visualize_every_n_updates parameter in the launchfile. Setting it to 1 results in an update every 3-4 seconds on a fast CPU. Setting it to 0 (no visualization) maybe doubles the update speed on the terminal but the update_esdf_every_n_sec value is set to 0.1, suggesting it sould do an update 10 times a second., which is missed by a large factor. The cow_and_lady dataset takes several minutes to complete. Is there any explanation or some tips on how to run it on a real time system? I am using ROS Melodic (Ubuntu 18.04) as well.

qimao7213 commented 3 months ago

you can use "rosbag decompress cow_XXX.bag" before you play it.