Wow that seems really useful! Thanks for sharing it with everyone! On Fri, Apr 18, 2014 at 1:35 PM, Karthik Desingh wrote: > Awesome! +1 > > > On Fri, Apr 18, 2014 at 4:03 PM, Dmitry Berenson wrote: > >> The ARC Lab at WPI is releasing the Datalink Toolkit ROS package, >> designed to for remote operation of a robot over a high-latency and >> low-bandwidth datalink. The package was developed and extensively tested as >> part of the DARPA robotics challenge, though it is not specific to a type >> of robot. >> >> The package allows the user to easily set up relays and compression >> methods for a single-master system. These relays avoid duplicating data >> sent over the datalink while compressing common datatypes (i.e. >> point-clouds and images) to minimize bandwidth usage. >> The toolkit includes both message-based and service-based relays so that >> data can be sent on-demand or at a specified frequency. The service-based >> relays are more robust in low-bandwidth conditions, guaranteeing the >> synchronization of camera images and camera info messages, and allow more >> reconfiguration while running. >> >> The key features of the package are: >> - Generic relays with integrated rate throttling for all message types >> - Dedicated relays with rate throttling for images and pointclouds >> - Generic service-based relays with integrated rate throttling for all >> message types >> - Dedicated service-based relays with integrated rate throttling for >> images and pointclouds >> - Image resizing and compression using methods from OpenCV and >> image_transport >> - Pointcloud voxel filtering and compression using methods from PCL, >> Zlib, and other algorithms. (Note: pointcloud compression is provided in a >> separate library that can be easily integrated with other projects) >> - Launch files for easy use of the datalink software with RGBD cameras >> - Works with ROS Hydro >> >> Overall performance: >> - Reliable data transfer for a wide range of bandwidths and latencies >> (e.g. at DRC Trials: 1Mb/s - 100 Kb/s bandwidth, 100ms - 1000ms latency) >> - Pointcloud compression >8x depending on compression algorithm (without >> voxel filtering) >> - Pointcloud compression >20x depending on compression algorithm (with >> voxel filtering) >> - Image compression equivalent to image_transport (without image >> resizing) or better (with resizing) >> >> Performance comparison with ROS for image transfer: >> - 1.5x more images/second at 1Mb/s (grayscale image size 320x240) >> - 2x more images/second at 100Kb/s (grayscale image size 320x240) >> - 3x more images/second at 50Kb/s (grayscale image size 320x240) >> >> >> For more information, please see the wiki here: >> https://github.com/WPI-ARC/datalink_toolkit/wiki >> >> Get the package from our git repository here: >> https://github.com/WPI-ARC/datalink_toolkit >> >> >> >> Dmitry Berenson >> Assistant Professor >> Robotics Engineering Program >> Computer Science Department >> Worcester Polytechnic Institute >> http://users.wpi.edu/~dberenson/ >> >> _______________________________________________ >> ros-users mailing list >> ros-users@lists.ros.org >> http://lists.ros.org/mailman/listinfo/ros-users >> >> > > > -- > Thanks, > Karthik > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > > -- William Woodall ROS Development Team william@osrfoundation.org http://williamjwoodall.com/