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

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