[ros-users] ROS cpu load

[Cedric Pradalier]

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 
src/roslaunch/pmon.py:570
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 
mechanism.

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.

HTH

-- 
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp

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