Optimize usage of resources -- increase processing time - Githubissues

angetria / flir_lepton

ROS Package to interfere with Flir-Lepton LWIR sensor

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Optimize usage of resources -- increase processing time #5

Open klpanagi opened 8 years ago

klpanagi commented 8 years ago

Initialize containers on object creation (vectors, rosmsgs ...).
Avoid initiating ROS-Msg structures on each node loop iteration.
Keep containers as class members and update values on each loop iteration.
Keep memory allocation procedures as low as possible.

Keep in Mind that this package is Platform independent and will be mostly used on embeded platforms, like the RPI2 platform.

The above mentioned increased flir_lepton_sensor node framerate by 6fps (from ~= 11 to ~=17)