[jazzy] Performance improvements in Rosbag2 recorder discovery (backport #1825) #1827
+12
−11
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
![mergify[bot]](https://avatars.githubusercontent.com/in/10562?s=60&v=4){kind=small}
…#1825) Reintroduce the fix from 51a83f4 which was discussed in #1485. This gives a massive CPU improvement. Signed-off-by: Ramon Wijnands <[email protected]> (cherry picked from commit e75d6d6)
mergify
bot
requested review from
emersonknapp and
jhdcs
and removed request for
a team
MichaelOrlov
changed the title
MichaelOrlov
approved these changes
Oct 3, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR improves the performance of the Rosbag2 recorder discovery by moving graph checks such as
topic_is_unpublished(topic_name, *node_graph_))andis_leaf_topic(topic_name, *node_graph_)), which are expensive to the end of the checklist.This PR is similar to the fix from 51a83f4 which was discussed in CPU overhead when discovery is used #1485. This gives a massive CPU improvement.
In the screenshot below you can see the performance difference:
This is an automatic backport of pull request #1825 done by [Mergify](https://mergify.com).