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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
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Performance analysis #12

Closed sgcarrier closed 7 years ago

sgcarrier commented 7 years ago

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.

sbrodeur commented 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.

sbrodeur commented 7 years ago

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.

sbrodeur commented 7 years ago

Validated and fine with the above modifications.