[ros-users] Map Topic Idea

Damon Kohler damonkohler at google.com
Mon Mar 25 09:25:37 UTC 2013

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!! <davidvlu at gmail.com> 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 <dereck at 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 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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