How to accelerate update of elevation map

[kosei1515]

Hi, I'm now using this repository. I changed these following parameters and now the fastest average of updates was 4s per 1 update.

- sensor_processor       apply_voxelgrid_filter:    true
                              voxelgrid_filter_size:     0.03
- resolution: 0.03→This is at least necessary
- fused_map_publishing_rate: 3.0
- min_update_rate: 5.0
- num_callback_threads: 10
- postprocessor_num_threads: 10
- scanning_duration: 0.033
- mahalanobis_distance_threshold: 2.5
- multi_height_noise: 0.009

I want to accelerate it by parameter turning. Are there any ideas about any parameters for this problem? Or are there other solutions? The following is my environment.

• PC: jetson NX
• ROS: ros melodic
• stereo camera: ZED mini

Thank you for your help.

[maximilianwulf]

Hey, around 10ms per point cloud should be possible. How did you measure it?

If you want to use GPU I can recommend https://github.com/leggedrobotics/elevation_mapping_cupy

[kosei1515]

If you want to use GPU I can recommend https://github.com/leggedrobotics/elevation_mapping_cupy

Thank you.

How did you measure it?

I saw /elavation_map topic in rviz.

https://user-images.githubusercontent.com/81236654/171620416-c4fac643-f760-4038-87ce-daaff0c8e41e.mov

This is the video.

[maximilianwulf]

Are we looking at the fused map or the raw map?

Can you check the raw map?

[kosei1515]

This is the raw map. I think it is not so fast too.

https://user-images.githubusercontent.com/81236654/172095671-c8908dcf-40be-4f54-bddb-ebba517fb115.mov

[maximilianwulf]

Can you do

rostopic hz /your/topic

Did you compile with release flags?

[Yinghui-Lee]

hi， could you share how to use zed camera in elevation mapping? Im struggling. I d appreciate if you can help

[kosei1515]

Can you do

rostopic hz /your/topic

Did you compile with release flags?

I compiled with release flag, and it worked. Thank you for your help!

[kosei1515]

hi， could you share how to use zed camera in elevation mapping? Im struggling. I d appreciate if you can help

Hi. What is the problem? Please tell me the detail. Could you compile the package?