ros-perception / open_karto

Catkinized ROS Package of the OpenKarto Library (LGPL3)

Open Karto

Catkinized ROS Package of the OpenKarto Library (LGPL3)

Status

• Devel Job Status:
• AMD64 Debian Job Status:

open_karto's Issues

Karto Memory usage behaviour

Hello,

I am running Karto SLAM and I am monitoring the RES memory using the cpu_monitor package. What I am getting is the following figure. Now, I understand that the memory usage builds up. What I don't understand is the memory behavior after 70MB (it continually allocates and frees a lot of memory blocks). I have seen and verify this behavior related to Karto in a number of publications that I found online (it is not related to the back-end optimization). However, I have not obtained any good explanation so far. Can you help?

Thank you!

How to load a map in the karto for the resumption of the karto in uncharted areas

On the first day, using karto, I create a corridor map and save it via map_saver.
On the second day, I need to load the map into the karto and continue creating the map in the unexplored rooms.
How to save a map from karto so that it can be loaded back into it and continue research in unknown areas?

I don't understand why this is written here

open_karto/src/Mapper.cpp

Line 639 in 3ef9f6b

kt_double startAngle = rSearchCenter.GetHeading() - searchAngleOffset;

why not startAngle = - searchAngleOffset ?