BTW, image_transport&#39;s &quot;raw&quot; transport (the default) is able to use the intraprocess message passing optimization. So there is no drawback to using image_transport in nodelets.<br><br>Patrick<br><br><div class="gmail_quote">
On Fri, Sep 17, 2010 at 11:12 AM, Josh Faust <span dir="ltr">&lt;<a href="mailto:jfaust@willowgarage.com">jfaust@willowgarage.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<div class="gmail_quote"><div class="im"><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><br>
<br>
That&#39;s just what I was looking for - thanks. Performance is vastly<br>
improved now, down to about 12% CPU usage on the same within-nodelet test.<br><br></blockquote><div><br></div></div><div>12% still seems a bit high --  I&#39;m running your test now and it&#39;s using 0% of my CPU.  Then again I&#39;m on a pretty beefy machine -- what hardware are you running on?</div>


<div><br></div><div>Also, I&#39;ve updated the wiki to mention this form of publishing:</div><div><a href="http://www.ros.org/wiki/roscpp/Overview/Publishers%20and%20Subscribers#Intraprocess_Publishing" target="_blank">http://www.ros.org/wiki/roscpp/Overview/Publishers%20and%20Subscribers#Intraprocess_Publishing</a></div>


<div><a href="http://www.ros.org/wiki/nodelet#Publishing_from_a_Nodelet" target="_blank">http://www.ros.org/wiki/nodelet#Publishing_from_a_Nodelet</a></div><div><br></div><font color="#888888">

<div>Josh</div></font></div>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>