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Use driver nodelet in the rtabmap_slam launch file #10

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skalldri opened this issue Jun 21, 2019 · 0 comments · Fixed by #11
Closed

Use driver nodelet in the rtabmap_slam launch file #10

skalldri opened this issue Jun 21, 2019 · 0 comments · Fixed by #11
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@skalldri
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enhancement New feature or request triage approved The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team

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@skalldri
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Is your feature request related to a problem? Please describe.
The rtabmap_slam launch file starts a new node of the Azure Kinect ROS Driver, but uses nodelets for the image_proc post-processing steps. It would be significantly more memory efficient to use the pointer-passing mechanics enabled through nodelets.

Describe the solution you'd like
Use the nodelet version of the ROS driver in the rtabmap_slam launch file.

Describe alternatives you've considered
None.

Additional context
None.
@skalldri skalldri added enhancement New feature or request triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team labels Jun 21, 2019
@skalldri skalldri self-assigned this Jun 21, 2019
@skalldri skalldri added triage approved The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team and removed triage needed The Issue still needs to be reviewed by the Azure Kinect ROS Driver Team labels Jun 21, 2019
@skalldri skalldri mentioned this issue Jun 21, 2019
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@skalldri skalldri mentioned this issue Aug 30, 2019
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@skalldri skalldri

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enhancement New feature or request triage approved The Issue has been reviewed and approved for development by the Azure Kinect ROS Driver Team
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Use nodelet in rtabmap_slam.launch
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@skalldri