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verified publisher icon Carter12s

Improve Performance on High Bandwidth Topics

Open Carter12s opened this issue 1 year ago • 1 comments

When testing roslibrust's ROS1 native implementation with a high framerate, high resoultion video feed, we're only able to get a few messages per second and a single CPU core is pegged.

  • Identify bottlenecks and fix
  • Build some performance benchmarks / integration tests

Carter12s avatar Sep 23 '24 16:09 Carter12s

Specifically did some testing with sensor_msgs::Image

Discovered that for an HD image, de-serialziation was ~10x faster when compiled with --profile=release

Carter12s avatar Sep 23 '24 21:09 Carter12s

https://github.com/Carter12s/roslibrust/pull/201

Closing this, still not perfect, but massively improved by changes in here.

Carter12s avatar Oct 17 '24 19:10 Carter12s