Improve System Performance

[Bonifatius94]

Issue:

• there are serious payload / latency issues with ROS messaging
• some might be related to the Docker setup as different PCs connected by a VLAN adapter

Tasks:

• figure Out whether granting access to the host machine's network adapter fixes the issues
• if not, figure out how to deal with the performance issues (think of assigning minimal resources, scaling containers horizontally, making processes more efficient, decouple update rates with producer / consumer pattern, ...)

Goals:

• a more responsive system in general
• real-time system interaction (ideally)

[Bonifatius94]

Adjustments:

• Docker Networking was changed to use the localhost network directly, seemed to have a slight impact on performance

Measurements:

• idle simulation performance was measured (without any of our ROS nodes processing data)
• performance seems to be about the same as with our nodes enabled (the bottleneck is in the simulation)
• NPCs influence the system performance by a lot

Further Investigations:

• check whether turning off the NPC augmentation improves the performance
• try our ROS + Docker setup with a locally running CARLA simulator
• try our setup entirely without Docker