[gazebo_ros] fixes #361 #362
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| @@ -28,6 +28,7 @@ | |||
| #include <signal.h> | |||
| #include <errno.h> | |||
| #include <iostream> | |||
| #include <map> | |||
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If you don't need map in the header, you should include it in cpp only.
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rospack PR #49 and roslib PR #97 will solve the caching issue deeper in the call chain. |
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+1 one more approval and we can merge this. Thanks! |
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Removed the last commit about caching, as the caching issue is solved in a better fashion lower down the chain in rospack in ros/rospack#49 , and produces very similar results in terms of timing. The other commit fixing the reading the urdf from start everytime one package has been resolved should still be merged. |
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+1 |
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Implemented a dictionary of resolved package path in the URDF spawner to speed up the process.
Also not starting all over finding new occurrences of package:// as suggested by @rhaschke
Not starting all over did not improve significantly the time, but the dictionary improved spawning from 15.5 sec down to 2.7 sec on our file and reduced loading time of the bare shadow hand (without 200 tactile elements) by more than 7 seconds.