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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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new version of localization mode cost alot of time on startup #55

Closed ZOUJIASHUAI closed 1 year ago

ZOUJIASHUAI commented 1 year ago

hello @efernandez , does the new version of iris increased the localization perfomance?seems it cost a lot of time on startup if I use a 50x50m 0.02res map and on initpose.

efernandez commented 1 year ago

@ZOUJIASHUAI I don't now. I don't own this repo and I don't use this software either. I only evaluated it a while ago.

Either way, if you want someone to look into that, you should provide a way to reproduce and share the performance results before the new version and after, so ppl can see the actual degradation in performance you've experienced.

eupedrosa commented 1 year ago

Hi @ZOUJIASHUAI,

Can you be more specific with:

A 50x50m with 0.02m of resolution can take a while depending on the value of l2_max.

ZOUJIASHUAI commented 1 year ago

hello @eupedrosa my cpu is i5 8365u 8G memory l2_max is 0.06

the old version of iris start very fast on beginning,but the new one cost about 30s on startup,but after startup it seems normal,it also seems cost a lot of cpu on inital_pose. 1.zip this is the map I used

eupedrosa commented 1 year ago

Hi @ZOUJIASHUAI.

You should use a higher l2_max. I recommend the use of 0.5.

Your build must be in debug mode. Go to your catkin workspace and run catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release. Then recompile the code.