Ask Your Question

Revision history [back]

what "very slow to update" means to you? :-)

Gmapping has a lot of parameters, and you need to fine-tune them depending on your hardware configuration... I usually start with n#particles, angular/linear update if the odometry is good, lskip and map_update_interval.

300 particles is an HUGE number! Having 0.05m/5 cm resolution inside a 100x100m map, this means a lot of computational efforts (you are replicating x300 the map inside the memory). If you have a good odometry, try lowering that number to something like 80. Moreover, how many beams do you have in each scan? Actually you don't usually need to use all of them. Skipping some beams should improve the results and allow better performances.

Moreover, have a look to the system CPU load, if it's always 100% (gmapping is not multi-threading [1]) then your system will be very slow...

byee