Use the profiler in unity to identify where to optimize performance

[Rain1618]

Tancrede's results:

I ran the profiler on the SquarePool Scene. Here are the main culprits (tested in editor mode, on my local machine directly—no containers):

Current High-Latency Events (by CPU Usage, Descending):

• On average

  • Camera rendering
  • Monobehaviour updates
  • Thrusters.Update() & ROSClock.Update()
  • Canvas updates (UI)
  • ROS camera publishers at EndOfFrame
  • CameraPublisher.SendImage() & CameraDepthPublisher.SendImage()
  • Physics updates

• Spikes (consistently every ~13 frames)

  • !! ROS camera publishers at EndOfFrame
  • SendImage(): specifically, garbage collection (GC) is causing the spikes.

Observations

• The two ROS camera publishers are incurring significant latency due to:

  • ros.Publish() calls
  • Pre-computation within each camera publisher's SendImage() methods
  • Garbage collection spikes after/before the next SendImage() calls

  Suggestion: Caching some data may help reduce the load on the garbage collector?

• Physics updates contribute a smaller, yet still notable CPU load (5-10%). This mainly stems from:

  • The thruster script
  • ROSClock (to a lesser extent)

  Suggestion: optimize any math/physics computations for efficiency?

• UI updates also add to CPU usage slightly, though not heavily.

  • Suggestion: Try simplifying the UI in terms of types and amounts of components