ROS snaps being C++ and Python applications and having tons of dependencies all included in our snap, they can quickly become quite heavy and sometimes long to launch. On a robot, while we also expect the application to startup quickly, the bandwidth and storage accessible to the robot might certainly be limited. On a desktop, the user expects the application to start fast and not encumber the disk. While ROS snaps can be GUIs and desktop tools, they can also be the embedded software for robots. Part 2 of this series will present the optimisations already present in our Gazebo snap. Throughout the series, we will use the Gazebo snap as an example to demonstrate how to optimise ROS snap. This series of 6 blogs will show the tools and methodologies to measure and improve the performance of a snap. Welcome to Part 1 of the “optimise your ROS snap” blog series. Do you want to optimise the performance of your ROS snap? We reduced the size of the installed Gazebo snap by 95%!
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