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personalrobotics / herb_launch

Launch files for HERB.
BSD 3-Clause "New" or "Revised" License
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Adding launch file for all the chisel related services #23

Closed jeking04 closed 8 years ago

jeking04 commented 8 years ago

This PR adds a launch file that launches all services need to use chisel from prpy.

mkoval commented 8 years ago

Should we add this to start-herb.sh?

jeking04 commented 8 years ago

Its a good question. I was thinking of this as being similar to vncc or tabletop_tools. Right now we only start those services when we need them for a particular demo. But maybe we should add each to start-herb.sh. Or maybe we treat chisel like the apriltags module, which is included in start-herb.sh. Thoughts? @Shushman @mklingen Are there downsides to just having these services running all the time?

mkoval commented 8 years ago

:+1: for starting all three processes by default, unless there is a significant downside to doing so.

Hopefully @mklingen and @Shushman can clue us in.

mklingen commented 8 years ago

Yes, there is a significant downside: chisel will be constantly running in the background eating up all your CPU. I'd need to redesign the server so it doesn't do any processing by default until a service call.

mkoval commented 8 years ago

That is a major downside even if we only run Chisel during the demo. How difficult is it to make the modification you suggest? Is that something that you or @Shushman could take care of?

I believe Apriltags also constantly runs in the background. It may be worth starting it by default, anyway, if it does not use very much CPU time. @psigen can you confirm?

I believe VNCC runs on-demand, so there is no downside to starting it by default. @Shushman, can you confirm?

Shushman commented 8 years ago

I can confirm that the VNCC server is on-demand. It just needs a single depth and RGB image to work, however, and so was easy to do via service calls. I think Chisel has a bunch of other stuff going on in the background. Whether or not it's easy to change that is something I'd need to hear from Matt on.

mkoval commented 8 years ago

I created new issues #24 #25 #26 to track the changes to start-herb.sh. There's no reason to stall this pull request for those changes.