ROS2 tf2 performance on a Pi4+
Having now resolved my issue with the learning_tf2 tutorials, the static broadcaster works fine on a HP laptop. However if I try to run it remotely via ssh on a Pi4+ with 4Gb of memory it is VERY slow.
It is still slow on an old latop via ssh
cpu:
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 2000 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 2000 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 1884 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 3166 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 2000 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 2000 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 2000 MHz
Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz, 2000 MHz
Is this expected or are there some performance issues with either remote control or the Pi4?
How do you measure performance of a static transform broadcaster? It publishes once, then does almost nothing (it it all works as it should).
What does "VERY slow" mean in this case?
My apologies for a very poorly worded question (complete with errors!). It is the second broadcaster (not static) I was trying to run. When I have initiated teleop and hit the movement keys then:- on same machine the turtle moves immediately and quickly, on the second laptop via ssh each movement takes approx twice as long - so 2 -3 seconds to move up the screen, on the PI4+ it takes nearer to 6 seconds. (All approx as I have not actually put a stopwatch on it). Before I investigated further I was wondering if anyone else had any issues working on remote systems via ssh.
@bassline Your title and description and followup comment are confusing. I suggest you completely rewrite the title and description. Include only related information for this problem. A "broadcaster" is different from a "publisher". You should make it clear to us which one you are asking about.
Question removed as unclear and imprecise
The question seems ok, it's just the phrasing which could be tweaked a little.
@bassline: would it not be worth it to do that and see whether that draws some more attention?
You could just edit it (use the
editbutton/link).@gvdhoorn Given the comment, my best guess is that their question has nothing to do with tf2.