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Improve performance for ROS_DISABLE_LOANED_MESSAGES #977

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fujitatomoya opened this issue Apr 11, 2022 · 0 comments
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Improve performance for ROS_DISABLE_LOANED_MESSAGES #977

fujitatomoya opened this issue Apr 11, 2022 · 0 comments
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enhancement New feature or request

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fujitatomoya commented Apr 11, 2022 •
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Description

originally this came up with ros2/rosbag2#981 (comment)

reading environmental variable every single time to publish the data is not cost effective for performance.

Implementation considerations

  • extend rcl_publisher_t and rcl_subscription_t to cache the force flag to disable LoanedMessages.
  • read environmental variable just once for corresponding publisher or subscription construction in rcl.
  • return false immediately in rcl_publisher_can_loan_messages and rcl_subscription_can_loan_messages.

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