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Published 20 hours ago • verified publisher icon ros-perception

fix high cpu usage (#9)

Open knb opened this issue 2 years ago • 3 comments

tf2::doTransform is slow and high cpu usage, so change it to pcl_ros::transformPointCloud.

knb avatar Jun 30 '22 20:06 knb

Any update on this? Is it worth applying this change to a local fork if using this library still? If it is still the case perhaps someone should open an issue on the tf2 repo about that?

leahcornelius avatar Feb 25 '23 10:02 leahcornelius

Galactic is EOL and Foxy is close to be. Re-targeting to rolling.

hidmic avatar Mar 09 '23 12:03 hidmic

@leocornelius thank for the bump. I'd be onboard with merging this and even submitting an issue upstream if there was some raw evidence to back this high cpu usage observation. Neither this PR nor https://github.com/ros-perception/pointcloud_to_laserscan/issues/9 have shown any.

An MRE would be ideal, but I'm OK even with some basic profiling results.

hidmic avatar Mar 09 '23 12:03 hidmic