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It doesn't look like the version of ros_comm (roscpp, rosconsole, message_filters) that was released into Fuerte has changed since May of last year ( https://github.com/ros/ros_comm/commits/fuerte-devel ), and even then, the most recent changes were mostly limited to python libraries and some small bits of the C++ service implementation.

I don't think the message generation has changed in a very long time.

That leaves TF, PCL and Eigen as the primary culprits here.

  • The version of TF in Hydro was reimplemented on top of TF2. It's a pretty major rewrite, so it's possible that TF is slower in Hydro. I don't believe this port made it back to Groovy or Fuerte, so I'm not sure it's causing your slowdown there. In theory, TF2 should be faster than TF.
  • It looks like PCL was last released into Fuerte 6 months ago, and from digging through the release repository history, it looks like SSE was disabled in PCL around May 28th.
  • If you've changed Ubuntu versions, it's possible that you're using a newer version of Eigen that is somehow slower. Given that Eigen is a stable, established library, this seems unlikely.

Given those options, the most obvious change here is the patch disabling SSE in PCL.