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

asked 2020-07-01 14:53:10 -0500

dhaour9x gravatar image

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 image description image description

I'm using VMware ubuntu 16.04

I appreciate your help.

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Closed for the following reason duplicate question by dhaour9x
close date 2022-05-24 03:58:03.824784

1 Answer

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answered 2021-10-31 00:05:50 -0500

trejkev gravatar image

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

Hope my answer helps!

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Asked: 2020-07-01 14:53:10 -0500

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Last updated: Oct 31 '21