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 | 1 | initial version |
I just ran a test on 10th-get Nuc i7 computer and the performance requirements of ekf_localization_node vs ukf_localization_node are negligible. I use the same config for both, just change the nodes. I have one input IMU topic and one input 2D odometry in the testcase. Output frequency is set to 50 Hz. two_d_mode is false.
Both EKF and UKF use 5.3 % +- 1 % of one CPU on average.
EKF rostopic delay stats:average delay: 0.021 min: 0.001s max: 0.050s std dev: 0.01381s window: 200
UKF rostopic delay stats:average delay: 0.025 min: 0.005s max: 0.054s std dev: 0.01379s window: 200
Maybe on a less performant computer like Raspberry pi, the results would differ more. But for the strong computers, there is really no difference.
| | 2 | No.2 Revision |
I just ran a test on 10th-get Nuc i7 computer and the performance requirements of ekf_localization_node vs ukf_localization_node are negligible. I use the same config for both, just change the nodes. I have one input IMU topic @100 Hz and one input 2D odometry @15 Hz in the testcase. Output frequency is set to 50 Hz. two_d_mode is false.
Both EKF and UKF use 5.3 % +- 1 % of one CPU on average.
EKF rostopic delay stats:average delay: 0.021 min: 0.001s max: 0.050s std dev: 0.01381s window: 200
UKF rostopic delay stats:average delay: 0.025 min: 0.005s max: 0.054s std dev: 0.01379s window: 200
Maybe on a less performant computer like Raspberry pi, the results would differ more. But for the strong computers, there is really no difference.
| | 3 | No.3 Revision |
I just ran a test on 10th-get Nuc i7 computer and the performance requirements of ekf_localization_node vs ukf_localization_node are negligible. I use the same config for both, just change the nodes. I have one input IMU topic @100 Hz and one input 2D odometry @15 Hz in the testcase. Output frequency is set to 50 Hz. two_d_mode is false.
Both EKF and UKF use 5.3 % +- 1 % of one CPU core on average.
EKF rostopic delay stats:average delay: 0.021 min: 0.001s max: 0.050s std dev: 0.01381s window: 200
UKF rostopic delay stats:average delay: 0.025 min: 0.005s max: 0.054s std dev: 0.01379s window: 200
Maybe on a less performant computer like Raspberry pi, the results would differ more. But for the strong computers, there is really no difference.
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