Create collision map from Kinect with nodelet
Hi,
I use a camera Kinect for create a collision map but currently it's too slow and use 100% CPU. So I want use nodelets to avoid useless copies of pointCloud and speed up the process. I understand how I should use nodelet with openni_launch because I have a good explaining here: Get start with ROS Nodelet
My question is How create a collision map with nodelet ? Currently I use octomap_server to construct the map but it's not a nodelet.
It's necessary to modify the package ocotomap_server to porting nodes to nodelets ?
Or it's possible to run this node as nodelets with a change in the launch file ?
Or existing other package to construct collision map with nodelets ?
Thanks
EDIT:
I have tried with two computer: (With system Monitor)
The first work with two CPU at 100%: Ubuntu 10.04 / Ros Electric / Memory 3.9 GiB / Two processor Intel Core(TM)2 6600 @ 2.40GHz
The second work well, it have only a CPU at 100%, it have 8 CPU: Unbuntu 12.04 / Ros Electric / Memory 15.7 GiB / Height processor Intel(R)Xeon(R) W3565 @ 3.20 GHz
EDIT 2: New subject on how create this node: Build a octomap_server nodelet
You have no tags on your question, it is unlikely to be found by people who know about these things
Yes it's true. Now that's good. thank you
What are the specs (CPU type, speed, RAM, etc) of the computer you are trying to create the collision map on?
I have did a EDIT. A other question, We will soon use Fuerte. Is there a change between Electric and Fuerte with octomap_server ? It's for know if my work on electric can be used on Fuerte without change.
New (unrelated) questions tend to get lost in comments, but nevertheless: see the Changelog: http://www.ros.org/wiki/octomap_mapping/ChangeList
In general, the Fuerte version got a few new features and will be worked on, while electric will stay as it is. There should not be a change for you, I think.