micro-ROS / micro-ROS/micro_ros_zephyr_module
Long execution time rcl_publish function
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- Dominant language
- C
- Stars
- 92
- Forks
- 56
- PR merge metrics
- No merged PRs in 30d
Description
Long response times rcl_publish
- Hardware description:
STM32H743ZI - RTOS:
Zephyr
Steps to reproduce the issue / behaviour
When running the rcl_publish() micro-ROS function using the best-effort publisher I notice that the function alone takes about 2ms before it completes the function call. My expectation was that this time would be lower.
Expected behavior
When looking at older questions I noticed that the expected time for a rcl_publish function should be around 40us. i do however not see any options to achieve this timing.
https://github.com/micro-ROS/micro_ros_arduino/issues/20#issuecomment-723097131
Therefore, I wondered what I have to do in order to get better function completion times.
Thanks and kind regards,
Daniël
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start at the rcl_publish() call in the micro-ROS Zephyr setup and reproduce the roughly 2 ms completion time on the STM32H743ZI with a best-effort publisher. Compare the observed timing with the expected 40 us and determine which configuration or execution path accounts for the difference. Done means the cause and a concrete way to reduce or explain the timing are documented or fixed.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- c
- Domain
- embedded-iot, performance
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100