#gmapping-stateless

This is a modified version of the GMapping SLAM package (http://wiki.ros.org/gmapping) to run in a distributed environment.

##Installation

This package was developed and tested using ROS Fuerte.

• ZeroMQ (http://zeromq.org/)
• Google Protocol Buffers (https://developers.google.com/protocol-buffers/)
• All the dependencies from the fuerte branch of GMapping (http://wiki.ros.org/gmapping)

To install you can follow the BuildingPackages instructions on http://wiki.ros.org/ROS/Tutorials/BuildingPackages (rosbuild)

##Setup

Create a workers.txt text file in the same folder where you are going to launch the GMapping node with the following Syntax:

tcp://RemoteWorkerIP:Port for each remote worker
local for each local Worker/Thread

e.g.: for 2 remote workers with IP 192.168.1.1 and 192.168.1.2 with the RemoteWorker program running on port 8010 and 8011 respectively and 1 local worker the contents of the file would be:

local
tcp://192.168.1.1:8010     
tcp://192.168.1.2:8011

For the GMapping parameters see http://wiki.ros.org/gmapping

The remote workers need to run the zmq_reqrep_worker from the command line using the following syntax :

$ ./zmq_reqrep_worker -a tcp://NetworkInterfaceIP:Port

e.g.: $ ./zmq_reqrep_worker -a tcp://192.168.1.1:8010

or $ ./zmq_reqrep_worker -a tcp://*:8010 if you don't want to specify a network interface