Do your robotics applications have any realtime (or soft realtime) requirements? I suppose if folks are using python then that's already out the door, but possibly in the future wrapping the C++ interface could be a path towards more deterministic performance, along with the GC work that's being done on the Julia side.
peace, s On Sun, Dec 14, 2014 at 7:07 PM, Josh Langsfeld <[email protected]> wrote: > Yeah, the performance is still an open question I'm looking into. > Fortunately, for a lot of use cases, you either want to publish or > subscribe at a fixed rate and not just go as fast as the library will > allow. For small messages, like vectors and poses, I didn't see any > performance issues going all the way up to 500Hz. But I think passing > around high bandwidth sensor data may clog it up, especially since it has > to copy the entire message from the python type to the julia type or vice > versa. > > Going through roscpp instead of rospy is definitely an interesting > question that I have not investigated. Rospy is required to introspect on > the message data for the type generation but it might work to do everything > else through roscpp with ccall or Keno's CXX package ( > https://github.com/Keno/Cxx.jl). If performance is lacking that should > definitely be the first thing to start investigating. > > Thanks, > Josh > > > On Friday, December 12, 2014 9:17:49 PM UTC-5, Tony Kelman wrote: >> >> Josh, >> >> This is very cool, thanks for releasing this! Some of my colleagues are >> starting to use ROS and I've been gently nudging them towards Julia rather >> than legacy C or Matlab solutions. The timing on this package is a >> convenient coincidence. >> >> How much performance do you think this might be leaving on the table by >> having to go through PyCall and rospy? Are most of the underlying API's >> exposed through a C interface that could be wrapped directly via ccall? >> >> -Tony >> >> >> On Friday, December 12, 2014 11:06:37 AM UTC-8, Josh Langsfeld wrote: >>> >>> After about 6 weeks of initial part-time development, I'm announcing the >>> first release of the RobotOS.jl package, which enables essentially seamless >>> integration of Julia code with ROS <http://wiki.ros.org> (Robot >>> Operating System). At the core, it is mostly a wrapper for the rospy python >>> library (many thanks to Steve Johnson for PyCall), but on top of that I >>> added an automatic Julia type generation system so the back-end python >>> details are completely hidden from the end-user. >>> >>> https://github.com/phobon/RobotOS.jl >>> >>> I believe the robotics community is especially well suited to adopt >>> Julia, as speed and natural mathematical expressiveness are both highly >>> desirable features in whichever programming language is used. For about six >>> months now, I've been doing all my research in Julia and it has been vastly >>> more pleasurable than using either Matlab or Python. >>> >>> I am quite eager to continue development on the package with whatever >>> community feedback I can get but hopefully it can already prove useful to >>> anyone out there who has already thought of using the two systems together. >>> >>> Thanks, >>> >>> Josh Langsfeld >>> Graduate Research Assistant >>> Maryland Robotics Center - UMD >>> >>
