Ported melodic speed ups

ros-drivers / rosserial

A ROS client library for small, embedded devices, such as Arduino. See: http://wiki.ros.org/rosserial

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Ported melodic speed ups #583

Open rbiro-alarm opened 2 years ago

rbiro-alarm commented 2 years ago

I was able to get a factor of 6 reduction in cpu utilization in our test case with these changes in melodic. For noetic the reduction will not be as great since the checksum optimization will likely be minimal. I do not have a noetic install to test these with, so consider this more of an RFC.