Josh,
I'm running the test on a 2 GHz Intel Core 2 Duo laptop. The CPU usage
(around 12%) is also approximately what my CopyImageTest uses when
numCopies is set to 1, and the fillimage call is doing the same size memcpy.
Are you certain your 0% CPU use was for the 'nodelet manager' process,
and not for the 'rosrun nodelet nodelet manager' process? The later does
use 0% CPU on my system. I'd welcome any further performance increase,
but given there is a memcpy to copy the raw data (~7 MB) into the image
object, I wasn't expecting to do any better.
Joel
Josh Faust wrote, On 17/09/10 20:12:
>
>
> That's just what I was looking for - thanks. Performance is vastly
> improved now, down to about 12% CPU usage on the same within-nodelet
> test.
>
>
> 12% still seems a bit high -- I'm running your test now and it's using
> 0% of my CPU. Then again I'm on a pretty beefy machine -- what hardware
> are you running on?
>
> Also, I've updated the wiki to mention this form of publishing:
> http://www.ros.org/wiki/roscpp/Overview/Publishers%20and%20Subscribers#Intraprocess_Publishing
> http://www.ros.org/wiki/nodelet#Publishing_from_a_Nodelet
>
> Josh
>
>
>
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--
Research Assistant
Ocean Systems Laboratory
Heriot-Watt University, UK
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