[jazzy] Performance improvements in Rosbag2 recorder discovery (backport #1825) #1827
+12
−11
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This PR improves the performance of the Rosbag2 recorder discovery by moving graph checks such as
topic_is_unpublished(topic_name, *node_graph_))
andis_leaf_topic(topic_name, *node_graph_))
, which are expensive to the end of the checklist.This PR is similar to the fix from 51a83f4 which was discussed in CPU overhead when discovery is used #1485. This gives a massive CPU improvement.
In the screenshot below you can see the performance difference:
This is an automatic backport of pull request #1825 done by [Mergify](https://mergify.com).