The performance of the default Python executors in ROS2 is quite bad when is comes to throughput, latency and system load compared to e.g. ROS1 (see e.g. this). Common high frequency subscriptions like /tf easily overwhelm it or at least result in significant CPU load, that can not fully be explained by the slower nature of Python itself.
Due to the significant improvements brought by the events executor for cpp in terms of system utilization, the question arises if the same is possible for the python executor design.
Are there any plans from your side for an events based python executor design? And this this is not the case, what are your tips if somebody would want to implement it? Are there any pitfalls that come to your mind.
The performance of the default Python executors in ROS2 is quite bad when is comes to throughput, latency and system load compared to e.g. ROS1 (see e.g. this). Common high frequency subscriptions like
/tfeasily overwhelm it or at least result in significant CPU load, that can not fully be explained by the slower nature of Python itself.Due to the significant improvements brought by the events executor for cpp in terms of system utilization, the question arises if the same is possible for the python executor design.
Are there any plans from your side for an events based python executor design? And this this is not the case, what are your tips if somebody would want to implement it? Are there any pitfalls that come to your mind.