comparison to rf2o_laser_odometry

AlexKaravaev / ros2_laser_scan_matcher

Laser scan matcher ported to ROS2

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Open robvoi opened 2 years ago

robvoi commented 2 years ago

Everything works now. :-) One last question. How does thelaser_scan_match/csm compare to rf2o_laser_odometry?

I have both runnig (ROS2 fork of rf2o_laser_odometry). I wonder which one to use. Both deliver good results in my first tests.

AlexKaravaev commented 2 years ago

I haven't tested rf2o_laser_odometry yet, but it will be very great, if you will provide findings of the comparison here

robvoi commented 2 years ago

From my testing yesterday, both solutions perform similar in regards to results. rf2o uses 9% less CPU.

Still only basic testing done. No real mapping runs or anything. I’ll update as I continue testing.

AlexKaravaev commented 2 years ago

Have you tried to compile with the flag Release?

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

I haven't optimized this code of laser_scan_matcher yet, but it can be that the flag can help significantly with reducing CPU load

robvoi commented 2 years ago

It indeed seems to have saved some % of CPU. Didn't know this argument exists. Learned something. Thanks. I am recompiling all other nodes now. :-)