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Questions tagged [performance]

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Do constant fields in ROS2 topics affect serialized message size?

If I define a ROS2 field as constant, does the on-the-wire size of a serialized message change? In other words, do constant fields affect the serialized representation of ROS2 messages? PS I am using ...
LastStarDust's user avatar
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1 answer
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How can I use the Gazebo Garden Profiler to get performance information about individual plugins?

I am using gz garden to simulate a complex robot consisting of multiple components. I have already simplified with primitives the collision meshes, played with max_contacts but I keep getting low RTF (...
Gabriele's user avatar
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Best practice for logging callback durations and execution times in ROS

I'm wondering if there are any best practices for logging callback durations and execution times in ROS? As my system evolves and implementation is changed, I'd like to be able to monitor the ...
woodwardsquidward's user avatar
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Slam toolbox and Rviz2 slowing down my computer

To describe my problem more accurately, my pc become near unusable when I run slam toolbox and rviz2, with at least 10 seconds between a click and its response (it's really painful) The robot that I ...
Timothée's user avatar
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ROS2 Performance: rclpy is 30x-100x slower than rclcpp

Hi there, TL;DR: Publishing a typical 10MB Pointcloud on a very fast system takes only 2.8 ms in rclypp but 92 ms in rclpy. We observed significant latency/performance problems when publishing large ...
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nodelet load process does message (de)serialization?

I've just run a profiler on my nodelets and I've found out an interesting thing. It seems that message (de)serialization is done by the processes launched by ...
Martin Pecka's user avatar
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1 answer
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Why tensorflow python3 script runs slower in ROS than standalone?

Ubuntu 18.04 ROS Melodic Python 3.6.8 Tensorflow: 1.13.1 TensorRT: 5.1.5 NVIDIA: GTX1060 using Cudnn 7.6 and Cuda 10.0 When I run a object detection model developed in python using tensorflow ...
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Performance impact of enabling topic statistics

ROS Topic Statistics are great for monitoring every topic on the system. Tools such as ARNI rely on topic statistics to be enabled at all times during normal operation. Does anyone know what kind of ...
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What is the status of the rosjava client library?

What is the usability of rosjava? It seems to still be in development and has been updated to kinetic, but much of the documentation and discussion around it seems to be a couple of years old. Would ...
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Nodelet performance vs number of instances

Hello, If I launch 2 instances of a nodelet what will be the impact on the performance. Let's say the single instance of the nodelet was running at 30Hz. what will happen if multiple instances of the ...
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Performance cost of rostopic?

Is there a performance cost of publishing a rostopic even if no networked or local machine is pulling from it? I'm trying to cut down on performance loss in any way ...
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How inefficient is it to create the same publisher multiple times?

I'm curious about the potential performance hit of creating the same publisher multiple times, for example in a callback: ...
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waitForTransform gets slower and slower

I'm running ros hydro on ubuntu 12.04. I'm using openni_tracker v0.2.0. I'm trying to write a python script that draws an arrow between the user's head and right hand, using frames published by the ...
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Is Visual Odometry affected by the performance of the computer?

Hello, I tried the /demo_rgbd http://wiki.ros.org/demo_rgbd on ROS indigo in order to do a visual odometry. Since, according to the KITTI website, this method is one of the best, i don't obtain good ...
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2 answers
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tf impact on perf (tf design)

Hi all, I have been playing with tf a bit and I am wondering about its perfs mainly related to design reasons. Maybe some of you can put some light on my thoughts... Here they are: tf is kind of a ...
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Multithreaded RViz?

When running Movit on my desktop, RViz cannot show smoothly arm trajectories. Well, it looks cool at the beginning, but after 2 or 3 extra plannings/executions, CPU load reaches 100% and arm ...
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Navigation stack on an Atom CPU: possible?

Hello, We're working on getting the Navigation stack up-and-running on our robot. We're making headway, but we have a question about the horsepower needed to run the nav stack. We're working under the ...
Rick's user avatar
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rospack became agonizingly slow

Since I upgraded to Groovy, the rospack command has become really slow. This is true even if have no own package tree, just the distribution itself. The ...
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make without rebuilding everything everytime

In my package I defined a library which is linked to my executable.. the cmakelists file looks like this: ... rosbuild_add_library(mylib src/lib_src.cpp) #in the real cmake I have lot of sources in ...
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Relative performance and tradeoffs of ROS vs ICE (as middleware)

Has anyone done a performance comparison (bandwidth efficiency, congestion handling, latency, ???) between ROS and ICE? Anyone used both enough to give some pros/cons to selecting one or the other as ...
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How to evaluate AMCL localization performance

Hi all, I'm using amcl for localization in a mobile robot. Now succesfully I have it working on the robot. My idea is to use it with a laser scan and I will be modifying the readings so the ...
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How are ROS debian packages compiled?

Hi, I'd like to know if there's any documentation on the gcc flags used to compile the Debian ROS packages. I assume -O3 is used everywhere and that sse1-3 is only enabled on those packages which ...
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Transfer only a ROI of an OccupancyGrid

Hello, I am using ROS on a remotly operated Ground Vehicule. This robot produce a SLAM Map nav_msg/OccupancyGrid. This map is displayed on a control station. Link between rob ot and control station ...
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performance of VSLAM

Hello all, Does anybody know why the VSLAM node in ROS doesn't perform too well when the robot is not moving exceptionally slow or while it takes a sharp turn? I know there are some limitations to ...
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2 answers
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Unstable communication when using large number of nodes / topics

Currently we are working with an 11 man team on a research project where we use ROS electric to control a large number of devices in a grid of multiple robot systems. For this project we are trying to ...
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4 answers
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How can I speed up simulation in Gazebo?

What are the possible options for speeding up simulation in Gazebo? From talking to John I know there's work in progress on GPU-based acceleration of ODE. What's the status of that? What other ...
Stefan Kohlbrecher's user avatar