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aau-ros / aau_multi_robot

Multi-robot exploration by Alpen-Adria-Universität Klagenfurt
https://nes.aau.at/?p=1490
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Adhoc Node does not work properly #9

Open kushaagra opened 9 years ago

kushaagra commented 9 years ago

Adhoc Node is not able to send map grids of over 50 by 50 size. I have tested the code using my own clients to the service by sending maps. It works fine for small messages like 20 by 20 grids, but it fails considerably for 50*50 size. That is why , even your map_merger and explorer module are not able to run because the map information is not being transmitted. It seems there is a bug in your code. Please resolve this issue.

I am ready to dive into your code and help you in changing it. But I need help where should I start changing it. Thanks :)

aau-ros commented 9 years ago

Please excuse the late reply and thank you for your comment. Can you please elaborate what you mean by size 50 by 50? Tiles? Meters? If I have some more information, I'm sure we can figure out the problem.

AlexisTM commented 6 years ago

@kushaagra This is more likely a 64k payload limitation due to protocol. You can split your map in multiple submaps. Indeed, ok bigger scale, you wouldn't be able to send the whole map you built, but only chunk per chunk. Also, you should send observations (things that does not fit the current map built)