[ros-users] ROS cpu load
cedric.pradalier at mavt.ethz.ch
Sat Jul 31 18:28:27 UTC 2010
On 07/31/10 13:11, Cedric Pradalier wrote:
> To continue on my fight against overhead, I've had good performance
> improvement of rosout by replacing all the timeout argument in the
> CallbackQueue::callAvailable and CallbackQueue::callOne from 0.01s to
> Now my rosout is really sitting in a corner doing nothing while I'm
> not logging.
> Can you foresee any drawbacks from this change?
And the final touch to make roscore behave: in package roslaunch, file
replacing time.sleep(0.01) with time.sleep(0.1) makes roscore use less
than 1% cpu, and AFAICS just slows down a little the process respawn
I don't think I will optimise farther for now. In summary, applying all
the changes in this thread brings my set of core processes (roscore,
rosmaster, rosout, some serial data gatherer/publisher) from a total of
20% cpu load, to 5-6%, without any noticeable performance loss so far.
Dr. Cedric Pradalier
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