Minor performance improvements #809
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The function `IOLoop.add_callback` is thread-safe and doesn't need to be protected for mutual access. And since the `self.prewrite_mssage` is only executed in the tornado event loop, there is no need for the write lock.
Native coroutines are generally faster as mentioned in the tornado docs: https://www.tornadoweb.org/en/stable/guide/coroutines.html#native-vs-decorated-coroutines
This is more explicit and avoids some computationaly overhead.
While this does not have any effect on the current single-threaded implementation, it will pave the way for a multi-threaded executor later on.
jtbandes
approved these changes
Oct 17, 2022
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Description
This PR adds some minor performance improvements and prepares to migrate to a multi-threaded executor later on. Please see the individual commits for a more detailed description of the changes.
A main performance bottleneck is still the Python GIL. I created an issue on
rclpyto release the GIL when calling intorcl: ros2/rclpy#1025