Intra process performace enhancements

[szepilot]

related to #11

• - DDS implementation (fast dds / cyclone dds)?
• - Memory leaks?
• - solve: only WARN when a LiDAR is disconnected
• - Stress-test
  • - duration
  • - demand (ground filter, clustering etc)
• - Pointcloud output dimension
  - collect use cases to test the code for
• - Boilerplate code for working with composable node.
• - Workspace building in ros2_ws
• - Pull request ouster_ros
• - Documentation
• - Finally: merge intraproc branch to main branch
• - Real time clustering on merged data
• - Decide wether name is necessary here or not:

  lexus_bringup/launch/drivers/os_32_comp_b.launch.py

  Line 55 in 95dfcae

  name='os_cloud',

• - Param or other solution to fix 20 Hz loop rate at merger

  lexus_bringup/src/pcl_merger.cpp

  Line 50 in 64dde7e

  timer_pub = this->create_wall_timer(50ms, std::bind(&OusterPCLMerger::mergedPCLPubCallback, this)); // TODO: this is fix 20 hz, make it param https://github.com/jkk-research/lexus_bringup/issues/15

• Self filter (cuboid filter / CropBox filter) https://github.com/jkk-research/lidar_cluster_ros2/blob/cfcdcfe7d002abc98414e580cbb4ac74d37ee150/src/euclidean_grid.cpp#L268C10-L268C17

[szepilot]

Self filter Gamma project (view)

[horverno]

Also check multicast, may help too

https://docs.ros.org/en/humble/How-To-Guides/Installation-Troubleshooting.html

https://autowarefoundation.github.io/autoware-documentation/main/support/troubleshooting/performance-troubleshooting/

@norbertmarko