Improve Performance on High Bandwidth Topics

RosLibRust / roslibrust

An async first rust client for ROS1 native and rosbridge.

https://docs.rs/roslibrust

MIT License

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Improve Performance on High Bandwidth Topics #197

Closed Carter12s closed 1 month ago

Carter12s commented 2 months ago

When testing roslibrust's ROS1 native implementation with a high framerate, high resoultion video feed, we're only able to get a few messages per second and a single CPU core is pegged.

Identify bottlenecks and fix
Build some performance benchmarks / integration tests

Carter12s commented 2 months ago

Specifically did some testing with sensor_msgs::Image

Discovered that for an HD image, de-serialziation was ~10x faster when compiled with --profile=release

Carter12s commented 1 month ago

https://github.com/Carter12s/roslibrust/pull/201

Closing this, still not perfect, but massively improved by changes in here.