rviz2 performance issues with CUBE_LIST marker

asked 2021-10-27 08:02:38 -0600

rapit gravatar image

updated 2021-10-29 10:09:55 -0600

Hi,

I just ported some 3d map visualization to ros2, foxy. I publish a marker in the CUBE_LIST mode. The number of cubes in the marker is between 5000-30000. This was never a problem in rviz1 but with foxy I can barely move the camera in rviz2, it is about 1 fps. When I disable the topic, everything is smooth again. The publisher is publishing once every few seconds so that shouldn't be an issue.

I tried to debug a little:

  • rviz2 debug output says GPU is used and works fine.
  • Sending a delete_all marker before every update makes no difference
  • compile rviz2 from source instead of the -> No difference except I noticed that it is not built as "Release" per default. This seems strange but the release build does only make a small difference.
  • I fired up the ros1 bridge and bridged the topic to display it in rviz1 -> everything is super smooth.
  • Played around with the QOS settings -> no difference

The marker basically has the following form plus a couple of thousand points and colors in the respective fields:

visualization_msgs::msg::Marker marker;

marker.id  = 0;
marker.type = visualization_msgs::msg::Marker::CUBE_LIST;
marker.scale.x = 0.2;
marker.scale.y = 0.2;
marker.scale.z = 0.2;
marker.color.a = 1.0;
marker.pose.orientation.w = 1.0;
marker.frame_locked = true;
marker.header.frame_id = vdb_frame_id_;
marker.header.stamp = this->get_clock()->now();
marker.action = visualization_msgs::msg::Marker::ADD;

Am I doing something wrong or is this more of a general issue? Thanks!

EDIT

As requested here is a MWE which reproduces the issue. It is simply the code from the ros2 simple publisher example with a marker publisher. If you run a ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics and visualize the cube list in rviz1 instead, everything is smooth. In rviz2 it is super slow.

#include "rclcpp/rclcpp.hpp"
#include <visualization_msgs/msg/marker.hpp>

using namespace std::chrono_literals;

static constexpr int pt_count = 30; // 27000 points

class CubePublisher : public rclcpp::Node
{
  public:
    CubePublisher() : Node("cube_publisher")
    {
        publisher_ = this->create_publisher<visualization_msgs::msg::Marker>("/cubes", 10);
        timer_ = this->create_wall_timer(3000ms, std::bind(&CubePublisher::timer_callback, this));
    }

  private:
    void timer_callback()
    {
        visualization_msgs::msg::Marker marker;

        marker.id                 = 0;
        marker.type               = visualization_msgs::msg::Marker::CUBE_LIST;
        marker.scale.x            = 0.25;
        marker.scale.y            = 0.25;
        marker.scale.z            = 0.25;
        marker.color.a            = 1.0;
        marker.pose.orientation.w = 1.0;
        marker.frame_locked       = true;

        geometry_msgs::msg::Point cube_center;

        for (int i = 0; i < pt_count; ++i)
        {
            for (int j = 0; j < pt_count; ++j)
            {
                for (int k = 0; k < pt_count; ++k)
                {
                    cube_center.x = i / 2.0;
                    cube_center.y = j / 2.0;
                    cube_center.z = k / 2.0;

                    marker.points.push_back(cube_center);
                }
            }
        }

        marker.header.frame_id = "map";
        marker.header.stamp    = this->get_clock()->now();
        marker.action          = visualization_msgs::msg::Marker::ADD;

        RCLCPP_INFO_STREAM(this->get_logger(), "Publishing " << marker.points.size() << " cubes.");
        publisher_->publish(marker);
    }
    rclcpp::TimerBase::SharedPtr timer_;
    rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr publisher_;
};

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<CubePublisher>());
    rclcpp::shutdown();
    return 0;
}
edit retag flag offensive close merge delete

Comments

Can you please post your full code that you use to generate the marker messages?

Geoff gravatar image Geoff  ( 2021-10-27 18:07:16 -0600 )edit

My full code is too complex to show but I created a MWE derived from the basic ROS2 publisher example. I updated the original post.

rapit gravatar image rapit  ( 2021-10-28 06:45:32 -0600 )edit