Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

reduce roscore startup time

asked 2014-06-30 02:21:08 -0600

GringoRos
31 ●1 ●2 ●3

Hello,

I'm running ros on an embedded system (2xCortexA9@900MHz). It takes about 13 seconds till roscore is ready. The problem is, that I need a running system with roscore and some small nodes after about 12 seconds. The bootup time of the operating system (~3sec) is included, so roscore must be started in 9 sec. or better.

I used the python cProfile module and runsnake but I didn't find the "one" time consuming element. Are there any ideas how to reduce the startup time of roscore? Is it possible to "compile" roscore (binary without python)?

Thx!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-06-30 13:58:43 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

updated 2017-06-07 12:42:15 -0600

I believe that there's an option to roslaunch that skips the disk space check; that may be able to shave a few seconds off of the startup time, particularly if there isn't a user to see the results.

UPDATE:

The command-line option to roslaunch to skip log size checks is --skip-log-check

edit flag offensive delete link

Comments

Thanks a lot for your great advice! May I know if there is any tips for finding the function of disk space checking in the source code of ROS? :)

AustinXDLiu ( 2017-06-07 04:16:10 -0600 )edit

I've updated my answer with the option in question. If you're still curious about how it works, I'd recommend that you start at the roslaunch wiki page and follow the source code link to the source code.

ahendrix ( 2017-06-07 12:43:11 -0600 )edit

add a comment

Question Tools

3 followers

Stats

Asked: 2014-06-30 02:21:08 -0600

Seen: 790 times

Last updated: Jun 07 '17

reduce roscore startup time edit

1 Answer

Comments

Question Tools

Stats

Related questions

reduce roscore startup time