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Gary Servin garyservin Locus Robotics Asunción - Paraguay

garyservin/esp8266_at 6

ESP8266 Offical AT+ Command

garyservin/CdRbot 2

Robot para el curso de Robótica del Club de Robótica de la Facultad Politécnica de la Universidad Nacional de Asunción

garyservin/beagleway 1

Plataforma robótica móvil basada en el principio del péndulo invertido utilizando una BeagleBone Black y un microcontrolador Mbed

garyservin/cv 1

Curriculum Vitae (based on: https://github.com/martinezjavier/cv)

garyservin/android_core 0

Android libraries for rosjava

garyservin/ardronelib 0

Modified ARDroneLib

garyservin/ardrone_autonomy 0

"ardrone_autonomy" is a ROS driver for Parrot AR-Drone quadrocopter. This driver is based on official AR-Drone SDK version 2.0 and supports both AR-Drone 1.0 and 2.0.

garyservin/class_loader 0

ROS-independent library for dynamic class (i.e. plugin) introspection and loading from runtime libraries

garyservin/concert_services 0

Official services supported by rocon.

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Enrique Fernandez Perdomo

commit sha ede291c83bac5111c56ceddea7436c85a294d714

Move parameter blocks vector outside loop (#215) This reduces the amount of allocations required, since the same vector and its previously allocated memory is reused among all the graph constraints when the ceres::Problem is created.

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PR merged locusrobotics/fuse

Reduce create problem allocations enhancement

On top of https://github.com/locusrobotics/fuse/pull/214, this moves parameter_blocks out of the loop that adds the residual blocks to the ceres::Problem created with the graph constraints.

This turns out to be a marginal improvement. Indeed, the CPU time is roughly the same according to the benchmark results:

2020-12-03 10:08:41
Running ./benchmark_create_problem
Run on (16 X 3600 MHz CPU s)
CPU Caches:
  L1 Data 32K (x8)
  L1 Instruction 32K (x8)
  L2 Unified 512K (x8)
  L3 Unified 16384K (x2)
Load Average: 0.03, 0.28, 0.40
-------------------------------------------------------------------
Benchmark                         Time             CPU   Iterations
-------------------------------------------------------------------
BM_createProblem/200/2       124606 ns       124607 ns         5905
BM_createProblem/256/2       164698 ns       164695 ns         4280
BM_createProblem/512/2       359864 ns       359847 ns         1890
BM_createProblem/1024/2      813617 ns       813624 ns          920
BM_createProblem/2048/2     1674784 ns      1674737 ns          426
BM_createProblem/4000/2     3352385 ns      3352229 ns          212
BM_createProblem/200/4       192466 ns       192455 ns         3410
BM_createProblem/256/4       259837 ns       259829 ns         2505
BM_createProblem/512/4       577659 ns       577648 ns         1194
BM_createProblem/1024/4     1240251 ns      1240231 ns          569
BM_createProblem/2048/4     2596711 ns      2596421 ns          267
BM_createProblem/4000/4     5539479 ns      5539413 ns          123
BM_createProblem/200/8       373014 ns       373006 ns         1932
BM_createProblem/256/8       508080 ns       508050 ns         1278
BM_createProblem/512/8      1026084 ns      1026050 ns          692
BM_createProblem/1024/8     2241448 ns      2241251 ns          318
BM_createProblem/2048/8     4686068 ns      4685903 ns          149
BM_createProblem/4000/8    11403262 ns     11402702 ns           58
BM_createProblem/200/12      525974 ns       525941 ns         1385
BM_createProblem/256/12      733360 ns       733343 ns          923
BM_createProblem/512/12     1514037 ns      1513944 ns          460
BM_createProblem/1024/12    3178791 ns      3178632 ns          218
BM_createProblem/2048/12    7275065 ns      7274640 ns           93
BM_createProblem/4000/12   21954607 ns     21953315 ns           30

The numbers of allocations and allocated memory goes down for the parameter_blocks vector, but that wasn't the main contributor to memory allocations in fuse_graphs::HashGraph::createProblem: heaptrack-allocated-Screenshot from 2020-12-02 22-19-23 heaptrack-allocations-Screenshot from 2020-12-02 22-19-02 heaptrack-Screenshot from 2020-12-02 22-12-10 heaptrack-Screenshot from 2020-12-02 22-16-25

When compared with the results in https://github.com/locusrobotics/fuse/pull/214, we have the following for the benchmark executable:

Case Allocations Allocated
https://github.com/locusrobotics/fuse/pull/214 4810920 211,8MB
https://github.com/locusrobotics/fuse/pull/215 10730 479.1kB

It's a big improvement for parameter_blocks alone, but almost nothing overall. And almost no impact on CPU time. But I believe it's a good change.

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Enrique Fernandez Perdomo

commit sha 41abdd839921b8cdf84188554a7fad8fea4a444e

Use fuse_core::getPositiveParam for all ros::Duration parameters (#212) * Use fuse_core::getPositiveParam for ros::Duration * Use fuse_core::getPositiveParam for TF durations

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PR merged locusrobotics/fuse

Use fuse_core::getPositiveParam for all ros::Duration parameters enhancement

When I tried to use fuse_core::getPositiveParam for all ros::Duration parameters before, I searched for _sec, so I missed a few spots where we use _double instead. Now all ros::Duration parameters make use of the new fuse_core::getPositiveParam that supports ros::Duration.

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pull request commentlocusrobotics/fuse

Reduce create problem allocations

Rebased, just in case

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pull request commentlocusrobotics/fuse

Use fuse_core::getPositiveParam for all ros::Duration parameters

Looks like this needs a rebase.

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Enrique Fernandez Perdomo

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Add HashGraph::createProblem benchmark (#214)

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PR merged locusrobotics/fuse

Add HashGraph::createProblem benchmark enhancement

bechmark results:

2020-12-03 10:18:54
Running ./benchmark_create_problem
Run on (16 X 3600 MHz CPU s)
CPU Caches:
  L1 Data 32K (x8)
  L1 Instruction 32K (x8)
  L2 Unified 512K (x8)
  L3 Unified 16384K (x2)
Load Average: 0.35, 0.14, 0.25
-------------------------------------------------------------------
Benchmark                         Time             CPU   Iterations
-------------------------------------------------------------------
BM_createProblem/200/2       123241 ns       123242 ns         5849
BM_createProblem/256/2       162335 ns       162337 ns         4371
BM_createProblem/512/2       360604 ns       360597 ns         1872
BM_createProblem/1024/2      812410 ns       812367 ns          883
BM_createProblem/2048/2     1686309 ns      1686260 ns          416
BM_createProblem/4000/2     3312365 ns      3312105 ns          203
BM_createProblem/200/4       204949 ns       204943 ns         3405
BM_createProblem/256/4       274914 ns       274907 ns         2498
BM_createProblem/512/4       617080 ns       617050 ns         1176
BM_createProblem/1024/4     1282331 ns      1282230 ns          567
BM_createProblem/2048/4     2624076 ns      2624072 ns          266
BM_createProblem/4000/4     5573755 ns      5573760 ns          126
BM_createProblem/200/8       366948 ns       366936 ns         1898
BM_createProblem/256/8       461833 ns       461824 ns         1541
BM_createProblem/512/8      1077706 ns      1077706 ns          672
BM_createProblem/1024/8     2220351 ns      2220204 ns          331
BM_createProblem/2048/8     4633878 ns      4633584 ns          152
BM_createProblem/4000/8    11401029 ns     11400688 ns           62
BM_createProblem/200/12      523023 ns       523006 ns         1398
BM_createProblem/256/12      724614 ns       724599 ns          960
BM_createProblem/512/12     1493217 ns      1493192 ns          483
BM_createProblem/1024/12    3169533 ns      3169500 ns          222
BM_createProblem/2048/12    7183788 ns      7183468 ns           95
BM_createProblem/4000/12   22026589 ns     22025445 ns           32

heaptrack results: heaptrack-1229416-allocated-Screenshot from 2020-12-02 22-18-35 heaptrack-1229416-allocations-Screenshot from 2020-12-02 22-18-05 heaptrack-1229416-Screenshot from 2020-12-02 22-11-25 heaptrack-1229416-Screenshot from 2020-12-02 22-16-03

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schemas: Set proper description default

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Set description optional in the report

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Add description field to use as a user friendly name

o, how do we set th

Yes, let's add it to the captive portal.

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