RPi4 ROS Online async vs synchronous map

An interesting tidbit from watching a TurtleBot 4 mapping video: they stated they were running the slam-toolbox in synchronous mode for better accuracy.

I set up the mapping example for the ROS2 GoPiGo3 in async mode thinking the Raspberry Pi could not keep up with synchronous mode, but apparently it can and will generate better maps.

Although in their documentation they do suggest async for running slam-toolbox on the RPi4:

  • SLAM Sync: Launches slam_toolbox with online synchronous mapping. Recommended for use on a PC.
  • SLAM Async: Launches slam_toolbox with online asynchronous mapping. Recommended for use on the Raspberry Pi 4.

Iā€™m looking forward to your test results :wink: