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Added init_options::NoSimTime to forcefully disable subscribing to /clock

Open peci1 opened this issue 2 years ago • 1 comments

Browsing through the list of migrated ARO questions, I stumbled upon https://robotics.stackexchange.com/questions/96165/nodelet-load-process-does-message-deserialization .

It shows that a simple nodelet load process can take significant CPU cycles when running with a fast simulated clock (e.g. gazebo on 1 kHz).

This option would allow nodelet load to disable the /clock topic subscription which it doesn't need for anything (PR pending: https://github.com/ros/nodelet_core/pull/120).

peci1 avatar Aug 16 '23 09:08 peci1

Could I please get a review on this PR? It is pretty simple and it blocks the PR to nodelet_core which could drastically increase performance in simulation when many nodelets are used.

peci1 avatar Jun 15 '24 20:06 peci1

@mjcarroll @sloretz friendly ping

peci1 avatar Sep 04 '24 08:09 peci1

Thank you for the PR!

sloretz avatar Sep 04 '24 16:09 sloretz

Thanks! Could you please retrigger CI for https://github.com/ros/nodelet_core/pull/120 ?

peci1 avatar Sep 04 '24 16:09 peci1