AW: [Aria-users] big maps and arnl

["Dennis Gamrad" <XXXXXXXX>]

Hallo,

thank you for the answer. My program works with the big map, but I get
the following warnings.

Warning: ArRobot sync tasks too long at 291 ms, (100 ms normal 250ms
warning)
Warning: Task 'Action Handler' took 261 ms to run (longer than the 250
ms warning time)
Warning: Task 'Packet Handler' took 300 ms to run (longer than the 250
ms warning time)
Warning: ArRobot cycle took too long because the loop was waiting for
lock
The cycle took 261 ms, 100 ms normal 250ms warning)

guiserver give warnings too: (MobileEyes works very slow and load very
long)

Warning: ArRobot sync tasks too long at 291 ms, (100 ms normal 250ms
warning)
Warning: Task 'Packet Handler' took 300 ms to run (longer than the 250
ms warning time)


I get no warnings with smaller maps. What is the reason of the warnings?
Should I change something? With too big PlanRes values the program
doesn't find a path.


Thank you 

Dennis Gamrad




-----Ursprüngliche Nachricht-----
Von: XXXXXXXX
[mailto:XXXXXXXX] Im Auftrag von Matt LaFary
Gesendet: Mittwoch, 19. April 2006 19:01
An: Dennis Gamrad
Cc: XXXXXXXX
Betreff: Re: [Aria-users] big maps and arnl

20m x 50m isn't too big.  We've use maps larger than that without 
problems (we've done about 200m x 400m without problems).  The biggest 
parameter you'll want to change is the PlanRes inside of Path Planning 
Parameters.  This is an O(n^2) effect, so if you go from 100 to 200 
you've made it take 1/4 the processing (this can actually wind up 
speeding it up by more than 4 times though, because of processor caching

and memory bandwidths and what not).

Matt LaFary
MobileRobots Inc
ActivMedia Robotics

Dennis Gamrad wrote:
> Hallo,
> 
>  
> 
> my navigation-program works, but with big maps it is very, very slow. 
> The dimensions of the map are 20000mm x 50000mm. Is this too big?
Which 
> parameters should I change to get better results?
> 
>  
> 
> Thank you
> 
>  
> 
> Dennis Gamrad
> 
>  
>