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Perf Testing: Costmap2DPublisher::prepareCostmap #4914

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SteveMacenski opened this issue Feb 10, 2025 · 3 comments · Fixed by #4919
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Perf Testing: Costmap2DPublisher::prepareCostmap #4914

SteveMacenski opened this issue Feb 10, 2025 · 3 comments · Fixed by #4919
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enhancement New feature or request good first issue Good for newcomers

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@SteveMacenski
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I think we should instead do a memcpy or direct assignment instead of looping in the costmap publisher on this line: https://github.com/ros-navigation/navigation2/blob/main/nav2_costmap_2d/src/costmap_2d_publisher.cpp#L189

The others need loops due to using translation maps, but this is raw copy
@SteveMacenski SteveMacenski added enhancement New feature or request good first issue Good for newcomers labels Feb 10, 2025
@AgnelFernando
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@SteveMacenski, I can work on this.

@SteveMacenski
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Please! 😄

@glitchhopcore glitchhopcore mentioned this issue Feb 13, 2025
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@glitchhopcore
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👀

@SteveMacenski SteveMacenski linked a pull request Feb 13, 2025 that will close this issue
removed the deep copy for the costmap_raw_ data using memcpy in prepareCostmap under costmap_2d_publisher.cpp #4919
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@mergify mergify bot mentioned this issue Feb 13, 2025
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@mini-1235 mini-1235 mentioned this issue Feb 17, 2025
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@SteveMacenski @AgnelFernando @glitchhopcore