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perf(road_user_stop): reduce the number of published debug markers - #11865
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #11865 +/- ##
==========================================
- Coverage 18.00% 17.96% -0.04%
==========================================
Files 1811 1812 +1
Lines 125557 125595 +38
Branches 43640 43687 +47
==========================================
- Hits 22603 22567 -36
- Misses 84118 84217 +99
+ Partials 18836 18811 -25
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
This PR reduces the time taken by the
road_user_stopmodule to publish its debug markers.To visualize many polygons, the module currently creates one
LINE_STRIPdebug marker for each polygon, which can result in more than 400 markers in my tests, leading to most of the module's runtime coming from publishing these markers.With this PR, a single
LINE_LISTmarker is used to represent all polygons of a same namespace, leading the module to publish only 4 markers, greatly reducing the runtime of the node.Related links
How was this PR tested?
Ran a scenario that was failing due to the performance issue.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
Slightly reduced runtime of the
road_user_stopmodule.