Rather than dealing with deltas, I've been simply PNG compressing the occupancy grid data. That helps a lot. On Sun, Mar 24, 2013 at 8:58 PM, David Lu!! wrote: > This is useful discussion topic. Some people have already been exploring it > with the OccupancyGridUpdate message > (http://ros.org/doc/groovy/api/map_msgs/html/msg/OccupancyGridUpdate.html) > in particular Stéphane Magnenat. There was a REP partially related to this > topic > (https://github.com/stephanemagnenat/rep/blob/91dc02f8f2a82c5ef4820d2fc9f0f6d1fd1d0c20/rep-0129.rst) > but I'm not sure what the final status of it was. > > > > > On Sun, Mar 24, 2013 at 8:59 AM, Dereck Wonnacott wrote: >> >> ROS users, >> >> I had an idea for improving map topics and would like to open it up for >> discussion and get some feedback on the idea. >> >> Problem: I like to run rviz for my mobile robot on a different computer >> than my robot for obvious reasons, but when gmapping maps get large they >> tend to saturate the network. >> >> Idea: Reduce the required bandwidth by publishing map deltas rather than >> full maps. >> >> Implementation details: The /map topic would publish the full map and >> latch that message for new subscribers. >> >> The /map-updates topic could then publish a hash of the map being >> published on /map and a list of changes required to bring that map up to >> date. >> >> When the change list size exceeds some threshold, it can publish and latch >> a new map on the /map topic. This will cause /map-updates to have a new hash >> and clear the change list >> >> The full map could be published on /map-full for backwards compatibility >> with older nodes. >> >> Suggestions and feedback on the idea greatly appreciated. :) >> >> ~Dereck Wonnacott >> Michigan Tech Robotics Lab >> >> >> “The greater danger for most of us lies not in setting our aim too high >> and falling short; but in setting our aim too low, and achieving our mark.” >> - Michelangelo >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- :wq Google Germany GmbH Dienerstr. 12 80331 München AG Hamburg, HRB 86891 Sitz der Gesellschaft: Hamburg Geschäftsführer: Graham Law, Katherine Stephens Tax ID:- 48/725/00206 VAT ID:- DE813741370