comparison to rf2o_laser_odometry

[robvoi]

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]

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

[robvoi]

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]

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]

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. :-)