search

AravindaDP / humanoid_navigation

ROS stack with footstep planning and localization for humanoid robots: http://wiki.ros.org/humanoid_navigation
12 stars 8 forks source link

the performance of raycast model #3

Open hzcipher opened 7 years ago

hzcipher commented 7 years ago

My robot has a 3d laser. When It localizes using the raycast model with 500 particles, It nearly costs 2 second to update the partilces with one laser measurment, The main cost is at the "castRay" method. Is there any solution to accelerate the method?

AravindaDP commented 7 years ago

Hi, Is there any chance you have the same problem reported in upstream project from which I have based my fork for re-releasing on ROS build farm? https://github.com/ahornung/humanoid_navigation/issues/18

weisongwen commented 7 years ago

@hzcipher @AravindaDP

I find the same problem in my project, as a result of the castRay (Based on the beam model) which consumed a lot of time when performed the localization for the robot with 3D lidar.

Have you get some other method to perform the localization in existing octomap?

Thanks Best regards