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TurtleBot with Cloud Computing

asked 2013-08-05 13:10:07 -0600

llSourcell gravatar image

updated 2013-11-14 10:33:52 -0600

tfoote gravatar image

So I've got a TurtleBot II running a small crappy netbook and a great Macbook Pro I'm dual booting with Ubuntu to SSH into it to run Rviz remotely for gmapping. It works, it's just really choppy. I'm pretty sure it's because the netbook processor sucks.

Is there a known way in ROS to add a middle layer between the remote computer and the turtlebot that acts as a cloud computing server to speed things up?

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answered 2013-08-05 13:55:00 -0600

tfoote gravatar image

Please provide a little bit more information about what you want to speed up. Usually with rviz the limiting issue is the wireless bandwidth due to the highly graphical nature of rviz. You can add any computing you want onto the robot, upgrade the machine or put another one on board.

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I want to speed up the frame rate in Rviz over SSH. It's terribly slow.

llSourcell gravatar image llSourcell  ( 2013-08-05 15:40:24 -0600 )edit

Ahh, you shouldn't run rviz via SSH. You should run rviz locall on the Macbook Pro and set it to connect to the robot over ROS not SSH.

tfoote gravatar image tfoote  ( 2013-08-05 20:43:14 -0600 )edit

thanks, that works

llSourcell gravatar image llSourcell  ( 2013-08-11 16:15:03 -0600 )edit

answered 2015-03-05 14:52:11 -0600

michaelyuan1 gravatar image

I've managed to get the gmapping program working on a remote computer because for me gmapping itself, let alone visualization with rviz, was slow. I edited the launch files of the gmapping so that it would not do 3dsensor.launch, then manually ran 3dsensor.launch on the netbook. This way as long as the netbook can handle the kinect data and the turtlebot drivers, it should be able to control the turtlebot. I'm working right now on getting the raspberry pi 2 to control the turtlebot in this way. One concern is the additional latency this creates, which I'm wondering if anyone knows how to measure.

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Asked: 2013-08-05 13:10:07 -0600

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Last updated: Aug 05 '13