You can not simply make this function call cache every previous result. This must allow the user calling the API to choose which behavior he wants. And for backward compatibility it must very likely be an opt-in for caching.

I think there is two ways to implement that.

1. add optional argument to turn caching on
2. add new variable like catkin_pkg.packages.enable_cache to toggle caching

I prefer 2 because it might be difficult to sync version of catkin_pkg, roslib and roslaunch and we can turn on caching without version problem.

Enabling it globally will almost guarantee problems since no current code expects the calls to be cached.

Do you think optional argument is reasonable?

The optional argument is trivial. The difficult part will be where to use it safely.

Instead of try to fix it here you might want to dig in and figure out where this function is called multiple times in order to "fix" the caller side by use local caching there.

Instead of try to fix it here you might want to dig in and figure out where this function is called multiple times in order to "fix" the caller side by use local caching there.

• speed of roslaunch depends on performance of roslib.packages.find_node and roslib.packages.find_resource because it calls them several times.
  They are used at here and here
• roslib.packages.find_node and roslib.packages.find_resource uses catkin.find_in_workspaces.find_in_workspaces at here
• catkin.find_in_workspaces.find_in_workspaces uses catkin_pkg.packages.find_package at here
• find_packages_allowing_duplicates is used in catkin.find_in_workspaces.find_in_workspaces

catkin_pkg.packages.find_package lists up all the catkin packages in order to find one package every time. The list of catkin packages is consumed inside of find_package function and from the caller side, it's not revealed.

The second location (https://github.com/ros/ros_comm/blob/indigo-devel/tools/roslaunch/src/roslaunch/rlutil.py#L228) looks interesting. Can you please modify it locally to pass the additional optional keyword argument rospack and report how that improves your timing?

I see.
Tomorrow I will send a series of patches

2014年12月10日水曜日、Dirk Thomasnotifications@github.comさんは書きました:

The second location (
https://github.com/ros/ros_comm/blob/indigo-devel/tools/roslaunch/src/roslaunch/rlutil.py#L228)
looks interesting. Can you please modify it locally and pass the additional
optional argument rospack and see how that affects your timing?

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from iPhone

This week I'm a little bit busy and I will dig this issue next week

I will arrange this issue.