[ros-users] ROS cpu load

Cedric Pradalier 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 
> 0.1s.
> 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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