Centralizing inflation layer so that it is not recalculated in each node.

asked 2015-10-07 13:18:57 -0500

Sebastian gravatar image

updated 2015-10-07 13:19:52 -0500

I am using costmaps in a few of my nodes for different purposes. It turns out that 3 nodes all require inflation layers in order to work.

If these nodes all have their own inflation layers won't that be inefficient because they are all doing the same calculation?

Has anyone tried centralizing this calculation to a single "inflation_map" node, which broadcasts an inflated version of the map? Then all the other nodes would just need a static layer that takes in the map data from that "inflation_map" node.

I think that would be a much more efficient way of going about this.

Let me know what you think.

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