[jazzy] Performance improvements in Rosbag2 recorder discovery (backport #1825)

[mergify]

• This PR improves the performance of the Rosbag2 recorder discovery by moving graph checks such as topic_is_unpublished(topic_name, *node_graph_)) and is_leaf_topic(topic_name, *node_graph_)), which are expensive to the end of the checklist.

• This PR is similar to the fix from 51a83f4 which was discussed in CPU overhead when discovery is used #1485. This gives a massive CPU improvement.

• In the screenshot below you can see the performance difference:

---

This is an automatic backport of pull request #1825 done by [Mergify](https://mergify.com).

[MichaelOrlov]

@ros-pull-request-builder retest this please

[MichaelOrlov]

Pulls: #1827
Gist: https://gist.githubusercontent.com/MichaelOrlov/cd6a7268495cb147c22764baafb2f945/raw/c8bc5d6d497fa2820bb6ffde82cd3ee849c5b68e/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_transport
TEST args: --packages-above rosbag2_transport
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14673

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[Timple]

This is great that this is backported! Thank you!

What is kind of the release rithm of rosbag2 jazzy? Would be good to know (kind of) when this would hit the binaries.

[MichaelOrlov]

@marcoag The last synch for Jazzy was Sep 6. When we would expect the next synch?

[clalancette]

@marcoag The last synch for Jazzy was Sep 6. When we would expect the next synch?

There was a Jazzy patch release and sync on September 23: https://discourse.ros.org/t/new-packages-and-patch-release-for-jazzy-jalisco-2024/39727

[MichaelOrlov]

Yeah, but the latest tag 0.26.5 for Jazzy in the Rosbag2 repo was created Sep.6

[marcoag]

I was hoping to do one as soon as we get a fast-rtps and/or cyclone release, let's see how it goes in the next few weeks...

[Timple]

But this rosbag2 package needs a release first right? Otherwise the sync doesn't pick it up.

[marcoag]

@Timple yes, we usually do that on the week of the sync so we can catch the latest updates right before the sync happens.