Gmapping slow- Map Update takes 2 minutes

Autonomous Machines Isaac Isaac SDK + Isaac Sim
#1

Running gmapping for creating maps from unity 3d simulation, there is a delay of 2 minutes between scans. Any ideas?

It takes 2 minutes for the new scan to reflect in image files. So i have to wait 2 minutes every time i move robot to a new position, so to get the new image. Tried changing build_map_period in apps.carter/gmapping/gmapping.app.json, but has no effect.

Set up: Unity 3d simulation with small_warehouse

Is there any setting which controls how fast the lidar scans get updated in the http://localhost:3000?

Any hints appreciated. Thank you :-)

#2

This seems painfully slow and I envy your patience. Could you tell me a bit about your hardware spec?

If you haven’t the following has useful information: Cartographer There are several parameters you can tweak but none that would account for such an eternity.

Are you able to run the Carter demos in Isaac Sim Unity3D comfortable? Isaac Sim Unity3D — ISAAC 2020.2 documentation

#3

Thank you for the reply. It finally worked , once i started using the virtual game pad for moving the carter robot around. Before i was using the mouse .

But now there is a crash in gmapping library

#0 0x00007ffff42ea650 in GMapping::ScanMatcher::registerScan(GMapping::Map<GMapping::PointAccumulator, GMapping::HierarchicalArray2DGMapping::PointAccumulator, true>&, GMapping::orientedpoint<double, double> const&, double const*) ()
from /home/renu/.cache/bazel/_bazel_renu/315f47e548a43e388ce68c76071bbb3c/execroot/com_nvidia_isaac/bazel-out/k8-opt/bin/apps/navsim/navsim_gmapping.runfiles/com_nvidia_isaac//packages_x86_64/lidar_slam/libg_mapping_module.so
#1 0x00007ffff42dfb21 in GMapping::GridSlamProcessor::processScan(GMapping::RangeReading const&, int) ()
from /home/renu/.cache/bazel/_bazel_renu/315f47e548a43e388ce68c76071bbb3c/execroot/com_nvidia_isaac/bazel-out/k8-opt/bin/apps/navsim/navsim_gmapping.runfiles/com_nvidia_isaac//packages_x86_64/lidar_slam/libg_mapping_module.so
#2 0x00007ffff42d8f0f in isaac::lidar_slam::GMapping::tick() ()
from /home/renu/.cache/bazel/_bazel_renu/315f47e548a43e388ce68c76071bbb3c/execroot/com_nvidia_isaac/bazel-out/k8-opt/bin/apps/navsim/navsim_gmapping.runfiles/com_nvidia_isaac//packages_x86_64/lidar_slam/libg_mapping_module.so
#3 0x00005555555d4a76 in std::_Function_handler<void (), isaac::alice::CodeletBackend::addToScheduler(isaac::alice::CodeletBackend::CodeletSchedule*)::{lambda()#1}>::_M_invoke(std::_Any_data const&) ()
#4 0x000055555563e4f6 in isaac::scheduler::Job::run() ()
#5 0x0000555555570a0c in isaac::scheduler::ExecutionGroup::Worker::main(isaac::scheduler::ExecutionGroup*) ()
#6 0x00007ffff59796df in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7 0x00007ffff5c4c6db in start_thread (arg=0x7fffb1675700)

#4

Does the crash happening right when mapping starts or after some time? Any reproduction information would be helpful, of course.

#5

Right at the start after the very first scan. Once the error occurs , a computer restart solves it.