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Published 20 hours ago • verified publisher icon micro-ROS

Long execution time rcl_publish function

Open danielallstar opened this issue 8 months ago • 0 comments

Long response times rcl_publish

  • Hardware description: STM32H743ZI
  • RTOS: Zephyr

Steps to reproduce the issue / behaviour

When running the rcl_publish() micro-ROS function using the best-effort publisher I notice that the function alone takes about 2ms before it completes the function call. My expectation was that this time would be lower.

Expected behavior

When looking at older questions I noticed that the expected time for a rcl_publish function should be around 40us. i do however not see any options to achieve this timing. https://github.com/micro-ROS/micro_ros_arduino/issues/20#issuecomment-723097131

Therefore, I wondered what I have to do in order to get better function completion times.

Thanks and kind regards,

Daniël

danielallstar avatar Jun 19 '24 06:06 danielallstar