Sourcing setup in ROS2 slow

asked 2018-09-06 10:09:37 -0600

uthinu
116 ●16 ●19 ●26

updated 2018-09-06 10:10:15 -0600

Hi, I had no problems with the time of sourcing setups in ardent, it was almost instantaneous so I have put the sourcing into /etc/bash.bashrc. But with ROS2, it has become very slow, there is a resulting long pause before any bash session:

$ time source /home/art/ros2_ws/install/setup.bash
real    0m6.734s
user    0m5.344s
sys 0m0.340s

Can the execution time be improved?

edit retag flag offensive close merge delete

Comments

Did you try sourcing ~art/ros2_ws/install/local_setup.bash? In general, I would avoid adding that line to /etc/bash.bashrc and instead add it to ~art/.bashrc (so you don't make other users suffer).

allenh1 ( 2018-09-06 15:12:42 -0600 )edit

Times are comparable for these two scripts. I did a simple check and I guess that something slow called package.bash is called many times (for each package?)

uthinu ( 2018-09-06 16:08:45 -0600 )edit

You can set the env vars AMENT_TRACE_SETUP_FILES=1 / COLCON_TRACE=1 to see which files are being sourced. There is certainly some overlap in them at the moment.

Dirk Thomas ( 2018-09-06 16:47:42 -0600 )edit

Could it be that your Ardent ws was using a merged install while your Bouncy ws is using an isolated install? The isolated install certainly takes longer to setup due to its numerous separate paths.

Dirk Thomas ( 2018-09-06 16:48:41 -0600 )edit

More than 1800 scripts are run in total by local-setup. I will try sourcing in /etc/rc.local instead.

uthinu ( 2018-09-07 05:35:13 -0600 )edit

https://github.com/ros2/ros2/issues/573

Dirk Thomas ( 2018-09-13 15:24:43 -0600 )edit

add a comment