[ros-users] [Discourse.ros.org] [Next Generation ROS] FastRTPS throughput issues

[Geoffviola]

I recompiled with the latest code as of today. The typesupport problem is definitely fixed. With fast RTPS The talker uses 12% CPU even if no one is subscribed. Talker uses 25% CPU, when there is one subscriber. The listener takes 100% CPU.

Ctrl-C works on the listener if there is no publisher. When the talker is publishing to the listener, Ctrl-C does not close it. Holding Ctr-C does stops it from using so much CPU and printing to the screen.

Also, this package does not compile in Linux alpha 8 opensplice binary. It seems that some symbols don't generate. I see the following error:
[ 66%] Linking CXX executable talker
[ 66%] Linking CXX executable listener
libtime.a(Time.cpp.o): In function `rosidl_message_type_support_t const* rosidl_generator_cpp::get_message_type_support_handle<builtin_interfaces::msg::Time_<std::allocator<void> > >()':
Time.cpp:(.text._ZN20rosidl_generator_cpp31get_message_type_support_handleIN18builtin_interfaces3msg5Time_ISaIvEEEEEPK29rosidl_message_type_support_tv[_ZN20rosidl_generator_cpp31get_message_type_support_handleIN18builtin_interfaces3msg5Time_ISaIvEEEEEPK29rosidl_message_type_support_tv]+0x5): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_opensplice_cpp::get_message_type_support_handle_opensplice<builtin_interfaces::msg::Time_<std::allocator<void> > >()'
collect2: error: ld returned 1 exit status
CMakeFiles/listener.dir/build.make:164: recipe for target 'listener' failed
make[2]: *** [listener] Error 1
CMakeFiles/Makefile2:173: recipe for target 'CMakeFiles/listener.dir/all' failed
make[1]: *** [CMakeFiles/listener.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/talker.dir/src/talker.cpp.o: In function `rosidl_message_type_support_t const* rosidl_generator_cpp::get_message_type_support_handle<builtin_interfaces::msg::Time_<std::allocator<void> > >()':
talker.cpp:(.text._ZN20rosidl_generator_cpp31get_message_type_support_handleIN18builtin_interfaces3msg5Time_ISaIvEEEEEPK29rosidl_message_type_support_tv[_ZN20rosidl_generator_cpp31get_message_type_support_handleIN18builtin_interfaces3msg5Time_ISaIvEEEEEPK29rosidl_message_type_support_tv]+0x5): undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_opensplice_cpp::get_message_type_support_handle_opensplice<builtin_interfaces::msg::Time_<std::allocator<void> > >()'
collect2: error: ld returned 1 exit status
CMakeFiles/talker.dir/build.make:171: recipe for target 'talker' failed






---
[Visit Topic](http://discourse.ros.org/t/fastrtps-throughput-issues/625/10) or reply to this email to respond.