ApolloAuto
Potential side effect of running cyber_recorder
General Question
Hi! I have a general question regarding cyber_recorder (link).
From my understanding cyber_recorder would be equivalent to adding a number of subscribers to CyberRT. Would these added subscribers affect Apollo's real-time performance? In other words, it is possible that cyber_recorder can cause Apollo to behave differently while recording?
Hello! I didn't test your case but measured time spent in writer->Write(msg) function for pointcloud messages (5-6 MB). And the time depends on fact if there are subscribers to this topic. Difference in function execution time was about x5-10 for inter process subscribing.
From this small and not very real benchmark we can assume that yes, performance will drop, but how much it's worth to discover.
@IvDmNe Thank you so much for your help! When you mentioned writer->Write(msg), did you create a new publisher and measured how long it takes to publish a message?
@IvDmNe thank you for your quick response! This information is very helpful and consistent with what I learned from some other ADS. Since point cloud messages are quiet large, do you think smaller messages, like ones that are just 120 bytes, will also affect system performance?
I suppose, dropout will be in microseconds. For most modules it's not significant.