Does RGBDSLAM support ROS_MASTER_URI

asked 2016-03-07 14:12:13 -0600

jacksonkr_

396 ●45 ●63 ●73 http://jacksonkr.com/

If I enable roscore on a remote machine and suppose ROS_MASTER_URI will it do all the processing remotely?

My goal is to offload the loop closures onto a faster machine.

The longterm goal is to pick and choose what gets offloaded to ROS_MASTER_URI and what processes locally.

If you have information on any of these topics, your knowledge is greatly needed! Thanks.

answered 2016-03-07 14:30:10 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

Yes. All ROS nodes support ROS_MASTER_URI.

ROS nodes run on whichever machine you run them on (whereever you type rosrun or roslaunch). ROS will not move processes from one machine to another for you; you have to start them where you want them.

Have a look at http://wiki.ros.org/ROS/Tutorials/Mul... for more information.

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I've been tinkering quite a bit with that tutorial lately, which is what prompted my original post. It seems as though what I need to do is open up the rgbdslam src and send data to another machine where a node is running to receive and parse the data. Is that the route you would take?

jacksonkr_ ( 2016-03-07 14:50:28 -0600 )edit

I haven't worked directly with rgbdslam, but it looks like is uses the openni_launch package for data capture, so the process for running the processing step on a separate machine should be as simple as running openni_launch on one machine, and rgbdslam on a different machine.