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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
1.68k stars 525 forks source link

Profiling and Accelerating SLAM_Toolbox for Implementation on an FPGA #557

Closed mpurushothapu3 closed 1 year ago

mpurushothapu3 commented 1 year ago

Hello, I am part of a group researching ROS2 algorithms to look for opportunities for acceleration, especially on an FPGA. We are currently of profiling SLAM_Toolbox as part of our research and we are currently using Callgrind as a profiling tool to identify potential bottlenecks and KCacheGrind as a visualization tool; however, Callgrind, while identifying functions with high cost, does not give us a detailed function call diagram or a code map. We were wondering if you had any suggestions to better understand the code in SLAM_Toolbox, such as understanding data dependencies, generating a time graph, or generating a code map in order to help us understand the code better to find opportunities for acceleration. Thank you so much for your time.

SteveMacenski commented 1 year ago

I don’t have any additional resources for you