Add nodelet implementation.#41
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wjwwood merged 2 commits intoros-perception:hydro-develfrom Nov 4, 2016
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Add additional nodelet layer to mirror the node implementation. This allows the Slam GMapping library to be run as a nodelet instead. This would allow you to, for example, run it under the same nodelet manager as the nodelet producing the /scan output for greater efficiency.
This was referenced Nov 2, 2016
wjwwood
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Nov 3, 2016
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other than a small nitpick, lgtm
gmapping/src/nodelet.cpp
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| class SlamGMappingNodelet : public nodelet::Nodelet | ||
| { | ||
| public: | ||
| SlamGMappingNodelet() {}; |
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nitpick: no ; required here (also below)
Removed superfluous semicolons and mildly clarified info stream output.
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Hi @wjwwood -- thanks for catching those. I've submitted a new commit that removes them. Please use GitHub's new-ish squash on merge feature, or I'd be happy to squash them myself and force-push if you'd prefer. |
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Thanks! |
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Add additional nodelet layer to mirror the node implementation. This allows the Slam GMapping library to be run as a nodelet instead. This would allow you to, for example, run it under the same nodelet manager as the nodelet producing the /scan output for greater efficiency.
Note that this was done in conjunction with a forthcoming change to the turtlebot_navigation package (pull request: turtlebot/turtlebot_apps#158), which serves as an example of the two nodelets running together under the same nodelet manager. Initial testing showed a ~11% reduction in overall memory usage and ~20% CPU usage running the slam_gmapping nodelet and depthimage_to_laserscan nodelet together, as compared to running slam_gmapping in a separate node.