#gmapping-stateful

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,percentage_of_attributed_particles for each remote worker
local for each local Worker/Thread (notice the missing percentage parameter, the remaining particles get equally distributed to the local workers)

e.g.: for 2 remote workers with IP 192.168.1.1 (30%) and 192.168.1.2 (40%) with the RemoteWorker program running on port 8010 and 8011 respectively and 2 local workers the contents of the file would be:

local
local
tcp://192.168.1.1:8010,30     
tcp://192.168.1.2:8011,40

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

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

$ ./dp_worker -a tcp://Main_PC_IP -p dp_worker_local_port

e.g.: main PC with IP address 192.168.1.5 using port 50000 locally :

$ ./dp_worker -a tcp://192.168.1.5 -p 50000