Performance improvement in Python scripts

ros-tooling / topic_tools

Tools for directing, throttling, selecting, and otherwise manipulating ROS 2 topics at a meta-level.

Apache License 2.0

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Performance improvement in Python scripts #60

Closed HaoguangYang closed 1 year ago

HaoguangYang commented 1 year ago

Improved relay_field and transform nodes.

Used lambda to pre-bake string eval and yaml-based field search. This yields approx. 50% in performance improvements (from 30% of a core to 12% of a core for transform that calculates the norm of a vector and publish a scalar).

HaoguangYang commented 1 year ago

LGTM - are there any tests that validate behavior hasn't changed from the set_message_fields change?

This change has been reverted, because I was not testing the change with the latest rosidl_runtime_py API. No changes are needed to the set_message_fields call.