[ros-users] RTT_COMPONENT_PATH in ROS debs
peter at thesourceworks.com
Mon Nov 8 20:47:30 UTC 2010
On Monday 08 November 2010 21:34:53 Stefan Kohlbrecher wrote:
> Hi Ken,
> 2010/11/8 Ken Conley <kwc at willowgarage.com>:
> > As a followup, on unstable, the size of orocos_toolchain_ros is about
> > 700MB. About 200MB of this are "test" executables in rtt/bin, so, if
> > you want to get this even smaller, that appears to be the main place
> > to look. There are some other inefficiencies (~100MB), though it
> > seems that the msg libraries themselves are pretty expensive. There
> > are 134MB worth of "librtt-ros" typekit and transport libraries in
> > rtt_ros_integration_std_msgs. As other msgs are added, this may become
> > a dominant cost.
> IIRC the Release mode binaries are much smaller (tested that when I
> had orocos_toolchain_ros checked out of svn instead of installed by
> deb). Default setting seems to be Debug, so there's probably room for
> improvement space-wise by switching. Or are there strong reasons for
> having Debug as default right now?
On the contrary. There is a severe performance penalty in Debug mode. We rely
on the compiler making the code efficient, and it shows in the numbers,
especially if your control loops run over 10kHz.
So that and turning off the tests could already improve much.
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