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I think it´s pretty hard to give a general answer here, as it depends a lot on the given application if it´s better to start things onboard or offboard. For example, if you want the interactive marker to be available to any user connecting to the robot via rviz, it probably makes sense to run it onboard. If you want to save bandwidth/reduce issues due to potential wireless latency you might want to start it together with rviz on demand on your offboard computer (perhaps both together in a launch file as you suggested). The good thing is that multiple options can be tested pretty easily using ROS.