Nodeletise laser_filters

ros-perception / laser_filters

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.

BSD 3-Clause "New" or "Revised" License

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Nodeletise laser_filters #84

Closed Patrick-Lascombe closed 3 years ago

Patrick-Lascombe commented 4 years ago

By porting to nodelets scan_to_scan_filter_chain and scan_to_cloud_filter_chain we save the computation time of serializing and deserializing of data.

Patrick-Lascombe commented 4 years ago

The travis build may have failed because I added the nodelet dependencies such as ddr and nodelet. I sthere a way to solve this problem ?

jonbinney commented 4 years ago

@Patrick-Lascombe this package is pretty low in the ros stack and i'd rather not have non-core dependencies like ddynamic reconfigure (regular dynamic reconfigure would probably be fine). Also the dynamic reconfigure changes shouldn't be in the same PR as the nodelet changes.

What were the performance problems you were seeing that you're solving with this PR? What CPU usage levels for what number of laser scans per second? And how much did that change after these changes to the code?

Patrick-Lascombe commented 3 years ago

Sorry for letting this PR aside for this long. Since the default branch has been moved to kinetic-devel, I've sync my fork with the upstream and moved my modification to the kinetic-devel branch. Hence I'll close this PR and open another one on the correct branch, with the modifications asked and the CPU usage levels