Closed sgcarrier closed 7 years ago
Note that recording a rosbag is particularly CPU-consuming when compression is activated. We should make sure that no compression is enabled.
The rosbag recording can be tuned a little with a few parameters on this line: https://github.com/sbrodeur/ros-icreate-bbb/blob/master/src/action/scripts/record/remote_control.py#L251
Try with these additional options, and if this doesn't help, then we can start thinking about filtering some unneeded topics.
Validated and fine with the above modifications.
Investigate if all ressources are used correctly and that there are no flagrant bottlenecks that could impede our tasks.
So far, notice that CPU usage skyrockets to 100% when I start rosbag recording. I have 2 possible explanations: 1 - Rosbag record takes a lot of processing power in all cases and my only recourse is to reduce the number of topics. 2 - I'm making an error in my subprocess creation and deletion for recording and its causing performance issues (i could use valgrind to investigate this).
Aside from recording, i didn't see anything odd in the performance stats.