Positioning delay in motion about quickmcl HOT 3 CLOSED

Hi,

I no longer have easy access to robots (so I can't check). However I suspect the issue might be rather simple. For QuickMCL you must make sure to build with optimisation enabled as the Eigen library which is used performs poorly without it. This makes a massive difference.

If you build with catkin try catkin clean && catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release && catkin build

If you use catkin_make I believe (it has been a while) you can use: catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release

Please let me know if this helps. If you still want to build other parts of your workspace with Debug build it can be useful to overlay mutiple workspaces as described here: http://wiki.ros.org/catkin/Tutorials/workspace_overlaying

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Thank you very much. It dose work. The time consumption of the same parameter is reduced by at least 20 times.Now, even likelihood_ num_beams = 1000，Sensor model only took 20~40 ms . It's amazing. Thank you again for your help. @VorpalBlade

from quickmcl.

I'll add something to the readme about this and then close the issue.

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