Open kevincwells opened 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.
@tfoote -- any feedback on this?
Given it's a launch file change only, I wonder why the kinetic build is failing.
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.
@tfoote I tested this and it works, but I would hold on merging as per my review.
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.