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turtlebot / turtlebot_apps

A group of simple demos and exmaples to run on your TurtleBot to help you get started with ROS and TurtleBot.
http://www.ros.org/wiki/turtlebot_apps
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Use GMapping nodelet #158

Open kevincwells opened 7 years ago

kevincwells commented 7 years ago

Modified GMapping launch files to use the new nodelet version of gmapping instead of the older node. This allows the GMapping nodelet (which reads /scan) to be run in the same nodelet manager as depthimage_to_laserscan (which outputs /scan), allowing for more efficient data processing.

Note that this was done in conjunction with a forthcoming change to the gmapping package (pull request: https://github.com/ros-perception/slam_gmapping/pull/41), and serves as an example of the two nodelets running together under the same nodelet manager. Initial testing showed a ~11% reduction in overall memory usage and ~20% CPU usage running the slam_gmapping nodelet and depthimage_to_laserscan nodelet together, as compared to running slam_gmapping in a separate node. This PR is thus dependent on the above-linked PR, and needs that to land before it can be merged in.

kevincwells commented 7 years ago

The above-referenced PR in the slam_gmapping package has been merged, so this can now be tested and merged if approved.

kevincwells commented 7 years ago

@tfoote -- any feedback on this?

Given it's a launch file change only, I wonder why the kinetic build is failing.

rohbotics commented 7 years ago

The kinetic build is failing due to some CMake warnings, which were not introduced by this PR.

I will try to test this sometime in the next couple days.

rohbotics commented 7 years ago

@tfoote I tested this and it works, but I would hold on merging as per my review.