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Map server should crop unknown space #3

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hershwg opened this issue Nov 12, 2012 · 4 comments

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@hershwg
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@hershwg hershwg commented Nov 12, 2012

[Originally reported by moesenle on kforge trac]

It happens too often that people create a really large map (e.g. 200x200m, 2.5cm resolution ~ 64mb) that mostly contain unknown space. Such large maps actually caused rviz to eat up all my memory during the PR2 workshop last week. That makes be believe that it would be best if the map server actually crops everything that doesn't really contain any information, i.e. that's unknown space.

Find a patch for cropping the map attached.. I added a ros parameter crop that allows for enabling (currently default) or disabling that functionality.

[Download link for original attachment]
https://kforge.ros.org/navigation/trac/raw-attachment/ticket/5/map-server-crop-map.patch

@DLu

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@DLu DLu commented Nov 7, 2013

I don't think this should be implemented here (in map_server). Since the size of the global costmap is based on the size of the static map, you might want to leave unexplored regions of the map available.

I think this would be better put into the map_saver with the (automatic) option to crop.

Anyone feel strongly either way?

@corot

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@corot corot commented Nov 8, 2013

+1 to map_saver

Another usecase is maps without defined limits (typically on simulations,
like gazebo turtlebot demo)

2013/11/8 David Lu!! notifications@github.com

I don't think this should be implemented here (in map_server). Since the
size of the global costmap is based on the size of the static map, you
might want to leave unexplored regions of the map available.

I think this would be better put into the map_saver with the (automatic)
option to crop.

Anyone feel strongly either way?


Reply to this email directly or view it on GitHubhttps://github.com//issues/3#issuecomment-28000525
.

@dornhege

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@dornhege dornhege commented Nov 13, 2013

+1 map_server just serving the map without modification sounds the most intuitive to me.

KaijenHsiao added a commit to KaijenHsiao/navigation that referenced this issue Jul 31, 2014
Removed particle weight resetting in the odom callback
@mikeferguson

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@mikeferguson mikeferguson commented Feb 13, 2016

seems there is a consensus that we don't want to implement this feature -- and the patch has also been lost when kforge was shutdown

adidasv111 added a commit to dorabot/navigation that referenced this issue Oct 15, 2019
Feature/resampling
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