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Using navigation stack with outdated on-board PC


We have a Pioneer P3AT robot with a rather outdated on-board PC - Pentium III 700 MHz with 256 MB RAM. The robot communicates with a powerful PC through Wi-Fi. In our current setup, the on-board PC runs a driver package (RosAria), a node for SICK laser, transformation and robot_state_publisher stuff. The following components run on the external PC: move_base, amcl, map_server, rviz.

This setup does perform pretty well.

We were thinking about an optimization - move every node to the robot's on-board PC except for rviz. This should make information flow more efficient, but the question is that will the robot's hardware handle this task.

Note: the on-board PC runs Ubuntu 12.04.2 LTS in text mode.