From e3448f69fdb60cb3d92420ef1518eca68fab7169 Mon Sep 17 00:00:00 2001 From: zhenpeng ge Date: Wed, 26 Jan 2022 21:25:25 +0800 Subject: [PATCH 1/2] add migration for dynamic composition Signed-off-by: zhenpeng ge --- migration/Galactic.rst | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/migration/Galactic.rst b/migration/Galactic.rst index 839984c95..e444ab579 100644 --- a/migration/Galactic.rst +++ b/migration/Galactic.rst @@ -227,3 +227,19 @@ So, what I propose here is to remove live monitoring of the BT from Nav2. **We c Fix CostmapLayer clearArea invert param logic ********************************************* `This PR `_ fixes the invert paramlogic of the CostmapLayer clearArea fonction. Hence correcting the behavior of the clearAroundRobot and clearExceptRegion services and their corresponding BT actions. + +Dynamic Composition +********************************************* + +`This PR `_ provides a optional bringup based on ROS2 dynamic composition for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. it's used by default, but can be disabled by using the launch argument ``use_composition:=False``. + +Some experiments to show performance improvement of dynamic composition, and the cpu and memory are captured by ``psutil`` : + + ============================================================================== ========= ============ + CPU: Intel(R) i7-8700 (6Cores 12Threads), Memory: 32GB cpu(%) memory(%) + ============================================================================== ========= ============ + normal multiple processes 44 0.76 + dynamic composition (use ``component_container_isolated``) 38 0.23 + ============================================================================== ========= ============ + +The way of dynamic composition consumes lower memory(saves ~70%), and lower cpu (saves ~13%) than noqrmal multiple processes. From 188134e2e25e9a020641ce1bfdf8f6e7eb38d1c1 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 26 Jan 2022 08:34:46 -0800 Subject: [PATCH 2/2] Update migration/Galactic.rst --- migration/Galactic.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/migration/Galactic.rst b/migration/Galactic.rst index e444ab579..41d5d0a2c 100644 --- a/migration/Galactic.rst +++ b/migration/Galactic.rst @@ -242,4 +242,4 @@ Some experiments to show performance improvement of dynamic composition, and the dynamic composition (use ``component_container_isolated``) 38 0.23 ============================================================================== ========= ============ -The way of dynamic composition consumes lower memory(saves ~70%), and lower cpu (saves ~13%) than noqrmal multiple processes. +The way of dynamic composition consumes lower memory(saves ~70%), and lower cpu (saves ~13%) than normal multiple processes.