[ros-users] Nodelet image transfer performance

[Joel Cartwright]

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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