i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap_sync tests and doc (#1454)

Browse Source 
* rtabmap_sync tests and doc

* Added some diagrams

* cleanup some diagrams

* fixing running tests in parallels
This commit is contained in:
matlabbe
2026-09-13 11:25:32 -07:00
committed by GitHub
parent 61edb4ee85
commit 5062bf0614
45 changed files with 4481 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_util/doc/map_assembler.md
+17
View File
@@ -24,6 +24,23 @@ ComposableNode(
'cloud_output_voxelized': True}])
```
The graph comes from the SLAM node; the maps are built here, off its critical path. Nothing forces the split across machines — a second process on the robot works too — but only `mapData` crosses the boundary, so putting the assembling on a workstation keeps the heavy topics off the link as well as off the robot's CPU:
```mermaid
flowchart LR
subgraph ROBOT["robot"]
SLAM["rtabmap"]
end
subgraph REMOTE["remote computer"]
ASM["map_assembler"]
RVIZ["RViz"]
end
SLAM -->|mapData| ASM
ASM -->|cloud_map| RVIZ
ASM -->|map| RVIZ
ASM -->|octomap_binary| RVIZ
```
## Subscribed Topics
| Topic | Type | Description |