Unity-Technologies
RosConnection.Update() spiking to >180ms execution. This thread-blocking causes bad frame spikes when Playing.
Describe the bug I am getting massive stutters when streaming images from ROS. When using the Editor profiler, it's apparent that the RosConnection.Update() invocation is blocking the main thread for >180ms. I am also using
Note: I am using 5, 720x720 images (~45fps per cam)
To Reproduce Steps to reproduce the behavior:
- Start the Unity TCP endpoint specifying 127.0.0.1 as the IP address (via the bash terminal)
- Set up 5 visualizers using the Unity Visualization package, each connecting to a different ROSTopic (so each visualizer window is subscribed to a different Image topic)
- Open up the Unity Profiler window
- Observe the lag spikes!
Console logs / stack traces No errors thrown.
Expected behavior I guess I would expect that the Update() invocation shouldn't take so long to compute. 90% of the other frames that render the 5 camera views are smooth. However, when the frame lag spike occurs, it's very noticeable so I'd expect that any delay on the Update() function > 30ms is concerning.
Screenshots
Screenshot of frame showing massive compute time for RosConnection.Update():
Screenshot of frame showing normal compute time for RosConnection.Update()
Environment (please complete the following information, where applicable):
- Unity Version: Unity 2022.3.10f1
- Unity machine OS + version: Ubuntu 20.04
- ROS machine OS + version: Ubuntu 20.04, ROS Noetic
- ROS–Unity communication: localhost via Unity-ROS TCP Endpoint (C++ version)
- Branch or version: [v0.7.0 for the Unity-ROS TCP Connector for Unity] [v0.7.0 for the Unity-ROS visualization package] [v0.7.0 for Unity-ROS TCP endpoint]
Additional context These delay spikes occur relatively frequently (>2 times per second)
One other odd thing I noted:
- When I made only 1 ROS topic subscription, a large lag spike was still present but occurred predictably around every 3 seconds, with smaller lag spikes every second.
