Too many threads -> go green ?

[asmodehn]

rospy create multiple threads in a few places...

This means there is one thread per topic (publisher side for async send) it seems.

These threads being OS threads, there will be fighting for CPU resources in OS scheduler (with context switching overhead).

It would be nice to propose alternatives to the user...

Maybe pyros could duck punch the threading module for rospy and allow using greenthreads ?

or maybe a patch directly in rospy ?

[asmodehn]

Greenthread might be a small improvement. but ultimately we should consider an async framework :
https://www.youtube.com/watch?v=82vuCZ4FLFE