How to compare 2D SLAM algorithms for Memory, CPU and GPU usage?

Hi everyone,

I'm trying to compare 2D SLAM algorithms :

Gmapping
hector SLAM
karto SLAM
Cartographer

for CPU and GPU usage but I don't know how to do that for each SLAM . So I'm using top and htop to visualize the memory and CPU usage for all running tools. and it shows me that gmapping has 14% CPU usage of 8 CPU
image description

I'm using VMware ubuntu 16.04

I appreciate your help.

Asked by dhaour9x on 2020-07-01 14:53:10 UTC

Comments

Answers

Hi mate, there is already a ros node that does it for you through a python library called psutil, it records the CPU and MEM usage for all the nodes running. You may use a rosbag to record the data and then read it through MATLAB or so. The link to the repo containing the node is this https://github.com/alspitz/cpu_monitor

Hope my answer helps!

Asked by trejkev on 2021-10-31 00:05:50 UTC