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ros / ros_comm

ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
http://wiki.ros.org/ros_comm
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Added init_options::NoSimTime to forcefully disable subscribing to /clock #2342

Closed peci1 closed 1 month ago

peci1 commented 1 year ago

Browsing through the list of migrated ARO questions, I stumbled upon https://robotics.stackexchange.com/questions/96165/nodelet-load-process-does-message-deserialization .

It shows that a simple nodelet load process can take significant CPU cycles when running with a fast simulated clock (e.g. gazebo on 1 kHz).

This option would allow nodelet load to disable the /clock topic subscription which it doesn't need for anything (PR pending: https://github.com/ros/nodelet_core/pull/120).

peci1 commented 3 months ago

Could I please get a review on this PR? It is pretty simple and it blocks the PR to nodelet_core which could drastically increase performance in simulation when many nodelets are used.

peci1 commented 1 month ago

@mjcarroll @sloretz friendly ping

sloretz commented 1 month ago

Thank you for the PR!

peci1 commented 1 month ago

Thanks! Could you please retrigger CI for https://github.com/ros/nodelet_core/pull/120 ?