Ingo Lütkebohle

Can you try using the `drive_base` configuration?

I'm on vacation, so I have limited Internet access. What you generally need to is run the nuttx menuconfig (source dev_ws/install/setup.bash and then go into "nuttx" and run "make menuconfig),...

Can I ask for some clarification on the motivation here, please? Firstly, it's the move_base node which combines perception and planning. Therefore, it is the place that knows whether there...

@AlexReimann Can you say a bit more about which performance issues you're seeing, concretely? It would help us understand what the requirements of those "other modules" are, that require a...

@AlexReimann From my own benchmarking on DWA-derived local planners, the part that takes the longest overall is the scoring -- and this needs read access to the costmap. Also, scoring...

Another approach could be to use reader-writer locks, but this wouldn't enable as much parallelism, due to the serialization constraint between costmap updates and planning.

@AlexReimann will you be at ROSCon? If yes, how about a chat?

@corot I guess it depends on your planning architecture. We typically first use topological planning for planning in the large, and then a costly planner (not from SBPL exactly, but...