Our use-case briefly:
Using the Navigation Stack in our application we extract data relative to the Evidence Grid Map from the subgraph “evidence_grid_map.subgraph.json”, in particular data coming from the source “evidence_local_map/isaac.egm_fusion.EvidenceMapFusion/evidential_local_map”.
We have noticed that the component doesn’t keep in memory the entire portion of the map that the robot has explored so far, but only the most recent.
- What is the policy used to decide what parts to keep in memory? (The most recent ones in terms of time, or the most close to the robot ones)
- Is there a way to control the policy or to decide how much map is kept in memory?