[ros-users] Map Topic Idea

Mon Mar 25 19:52:45 UTC 2013

On Mon, Mar 25, 2013 at 8:28 AM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> These are all good ideas. I think the original suggestion of
> transmitting deltas is worth consideration, too. There are common use
> cases involving large maps with only small changes being applied.
>
> People also need maps for multi-story buildings, hierarchical maps,
> and other applications that don't quite fit the current map interface.
>
> The Geographic Info project has done some  experimental work on
> outdoor Earth-oriented maps with latitude and longitude coordinates.
> While the representations and coordinates differ, those interfaces are
> at least indirectly relevant.
>
>  https://github.com/ros-geographic-info
>
> I suggest creating a Special Interest Group to discuss current
> practices and propose extensions to the standard ROS map interfaces.
>
>  http://www.ros.org/wiki/sig
>
>
A SIG would probably be appropriate.  However I'd suggest a more generic
one such as navigation so that it can be reused going forward once this
topic has been resolved.

>
> On Mon, Mar 25, 2013 at 9:54 AM, Damon Kohler <damonkohler at google.com>
> wrote:
> > There's a basic implementation here:
> >
> >
> https://code.google.com/p/rosjava/source/browse/google_map_transport/src/main/java/com/google/google_map_transport/MapTransport.java?repo=google
> >
> > In this case, I'm also scaling the image if necessary.
> >
> > On Mon, Mar 25, 2013 at 3:48 PM, Dereck Wonnacott <dereck at gmail.com>
> wrote:
> >> Damon,
> >>
> >> Well, that just makes all kinds of sense, would you mind sharing your
> >> implementation details? :)
> >>
> >>
> >> I wonder if we could support this in a generic manor by adding an
> 'encoding'
> >> to nav_msgs/MapMetaData
> >
> > +1
> >
> >> then nav_msgs/OccupancyGrid's data[] could be encoded in a wide number
> of
> >> formats. Perhaps we can use openCV to do the encoding/Decoding as well.
> >>
> >> This would break backwards compatibility, but it seems like the right
> way to
> >> go since adding the encode/decode should be a trivial fix for dependent
> >> packages to come up to date.... :/
> >
> > +1
> >
> >> ~Dereck
> >>
> >>
> >>
> >> “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
> >>
> >>
> >> On Mon, Mar 25, 2013 at 5:25 AM, Damon Kohler <damonkohler at google.com>
> >> wrote:
> >>>
> >>> 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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> >>> >> https://code.ros.org/mailman/listinfo/ros-users
> >>> >>
> >>> >
> >>> >
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> >>>
> >>>
> >>>
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> --
>  joq
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