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Are you planning on sticking with one master?  I've been thinking about some
way of sending compressed map data, but 'outside' of ROS, to support
multi-master ideas I've got.  Ping me off-list, and I can discuss them with
you.

Thanks,
Cem Karan

>>>>> On Sun, Mar 24, 2013 at 8:59 AM, Dereck Wonnacott 
>>>>> <dereck@gmail.com>
>>>>> 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 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

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Caveats: NONE