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1.3.0 - Performance of SDF File Structure - Redundancy in Reloading Description Files For Every SDF Read?

asked 2012-12-12 10:34:11 -0600

eacousineau gravatar image

I recently checked out the source code of Gazebo 1.3.0 (02a2ec16375a+ (gazebo_1.3) gazebo_1.3.0) and was looking into how the XML and SDF system works. I noticed that for each SDF file is loaded (from gazebo/Server.cc:, Server::LoadFile(), then from gazebo/sdf/interface/parser.cc:616, readXml()), it makes multiple calls to sdf::init(). When debugging, it would load the same SDF description files (in gazebo/sdf/1.3) several times.

This seems like it might be redundant and inefficient. Are there plans to cache these loaded XML documents, or are there reasons why they are reloaded every time?

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answered 2012-12-12 11:33:21 -0600

nkoenig gravatar image

The current plan is to generate C++ class from the SDF description files at compile time. This will bypass touching the filesystem, and also bypass a lot of string based searching.

Look for this in Gazebo 1.4

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Ah, makes sense. Thank you.

eacousineau gravatar imageeacousineau ( 2012-12-12 11:35:40 -0600 )edit
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Asked: 2012-12-12 10:34:11 -0600

Seen: 265 times

Last updated: Dec 12 '12