ROS2 speed

[ZhenshengLee]

@Bernd_Pfrommer

If possible from a technical point, can the basic performance tools like e.g. “ros2 topic hz” written such that they work as expected or print warnings when they are not reliable? Can they be written in C++ or fixed by some other means?

@Bernd_Pfrommer

Note that ros2 topic hz will report 10Hz and run at 100% CPU. Apparently fixing this is somewhat more involved, see this issue.

@peci1

And now, this is C++. Based on my experience, Python (rclpy) is totally out of the game for these tasks.

@sillkjc

This should be the number 1 priorty above adding any features.

Seeing the performance improvement with cpp replacing python.Introducing rosidlcpp: Building interface packages 10x faster - ROS Projects - ROS Discourse

I suggest the ros2cli tools reimplemented with cpp. like ROS2 speed - #20 by gbiggs

If PMC create a project named ros2clicpp, I’d like to contribute.