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ros2 / geometry2

A set of ROS packages for keeping track of coordinate transforms.
BSD 3-Clause "New" or "Revised" License
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[TimeCache] Improve performance for insertData() and pruneList() #680

Closed EricCousineau-TRI closed 1 month ago

EricCousineau-TRI commented 1 month ago

Resolves #676

Per https://github.com/ros2/geometry2/issues/676#issuecomment-2109109282, this should yield a ~1000x speedup for insertData (for inserting new data only)

EricCousineau-TRI commented 1 month ago

Hm. This is breaking test_tf2/buffer_core_test

EDIT: Locally, seems fixed by 898b4b3

EricCousineau-TRI commented 1 month ago

@clalancette @ahcorde If y'all have time, would y'all also be able to review + run full CI for this PR?

ahcorde commented 1 month ago
ahcorde commented 1 month ago
clalancette commented 1 month ago

CI:

ahcorde commented 1 month ago

https://github.com/Mergifyio backport jazzy

mergify[bot] commented 1 month ago

backport jazzy

✅ Backports have been created

* [#686 [TimeCache] Improve performance for insertData() and pruneList() (backport #680)](https://github.com/ros2/geometry2/pull/686) has been created for branch `jazzy`
EricCousineau-TRI commented 1 month ago

is it possible to backport this for humble (and maybe iron) as well?

EricCousineau-TRI commented 1 month ago

(We are very interested in having this improvement in humble, so please let me know if there is anything I can do to help in this respect!)

ahcorde commented 1 month ago

Ey @EricCousineau-TRI,

I'm backporting some of your last PRs, if CI is green should be done today, then I will create a release

EricCousineau-TRI commented 1 month ago

thanks! Just looking though, and I'm not sure if I saw this one (perf improvement) backported for humble. Did I miss that one?

EricCousineau-TRI commented 1 month ago

I ask because I only see jazzy and rolling if I search with this title: https://github.com/ros2/geometry2/pulls?q=is%3Apr+is%3Aclosed+%5BTimeCache%5D+Improve+performance+for+insertData%28%29+and+pruneList%28%29

ahcorde commented 1 month ago

https://github.com/Mergifyio backport humble iron

mergify[bot] commented 1 month ago

backport humble iron

✅ Backports have been created

* [#693 [TimeCache] Improve performance for insertData() and pruneList() (backport #680)](https://github.com/ros2/geometry2/pull/693) has been created for branch `humble` but encountered conflicts * [#694 [TimeCache] Improve performance for insertData() and pruneList() (backport #680)](https://github.com/ros2/geometry2/pull/694) has been created for branch `iron` but encountered conflicts