Re: [Aria-users] big maps and arnl

[Matt LaFary <XXXXXXXX>]

What type of computer and OS are you running the program on?  How much 
memory is in the computer?  Can you see how much memory the program is 
using?  ('ps  aux | grep guiServer' in linux, or just the task manager 
in Windows).

Do you get the warning when the robot is stopped as well?  I'd imagine 
thats what 'all the time' means, but I just thought I'd check.

What versions of Arnl/MobileEyes/Mapper3 are you using?

Can you try it on a desktop machine with a simulator and see if you 
still get the messages?

We ran it on a simulator on Linux and didn't get any of the messages. 
We tried the latest release version.  The machine we were using might be 
faster than a robot computer though.

The only time the size of the map should come into play is when that 
initial path is planned, after the initial path its just using a local 
area.  The size of the map won't have any effect on how much cpu the 
localization uses.

Matt LaFary
MobileRobots Inc
ActivMedia Robotics



-------- Original Message --------
Subject: AW: AW: [Aria-users] big maps and arnl
Resent-Date: Fri, 21 Apr 2006 04:49:06 -0400 (EDT)
Resent-From: XXXXXXXX
Date: Fri, 21 Apr 2006 10:59:52 +0200
From: Dennis Gamrad <XXXXXXXX>
To: <XXXXXXXX>

I get the warning all of the time. The warning comes with big and small
PlanRes.

Thank you

Dennis Gamrad


-----Ursprüngliche Nachricht-----
Von: XXXXXXXX
[mailto:XXXXXXXX] Im Auftrag von Matt LaFary
Gesendet: Donnerstag, 20. April 2006 15:18
An: Dennis Gamrad
Cc: XXXXXXXX
Betreff: Re: AW: [Aria-users] big maps and arnl

Do you get that warning all of the time?  Or just when you at first send

it to another point?

If you only get it when you first send to another point thats okay
because whats happening is the CPU is totally loaded and so the main
thread is getting slow, but the robot is sitting still or stopping at
that point at that point so it shouldn't matter... if you get it the
whole time you're driving somewhere that isn't good because it might
cause problems (if this is the case let us know so we can help more, and

send the map file and your arnl.p so we can look at them).

If you're having problems with MobileEyes taking a long time to load the

map then you should first try upgrading Arnl, Mapper3, and MobileEyes to

the latest.  We did some changes at one point that made it a lot faster
on big maps.  This won't change the behavior you talked about in ARNL
though (the changes were just in how much data is saved and in how we
send the map across the network).

Matt LaFary
MobileRobots Inc
ActivMedia Robotics

Dennis Gamrad wrote:
> 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
>>
>> 
>>
> 
>