Efficiency tips doc

README.md

@@ -29,6 +29,7 @@ rclnodejs.init().then(() => {
 - [API Documentation](#api-documentation)
 - [Using TypeScript](#using-typescript)
 - [Examples](https://github.com/RobotWebTools/rclnodejs/tree/develop/example)
+- [Efficient Usage Tips](./docs/EFFICIENCY.md)
 - [FAQ and Known Issues](./docs/FAQ.md)
 - [Building from Scratch](./docs/BUILDING.md)
 - [Contributing](./docs/CONTRIBUTING.md)

docs/EFFICIENCY.md

@@ -0,0 +1,28 @@
+# Tips for efficent use of rclnodejs
+While our benchmarks place rclnodejs performance at or above that of [rclpy](https://github.com/ros2/rclpy) we recommend appyling efficient coding and configuration practices where applicable. 
+
+## Tip-1: Disable Parameter Services
+The typical ROS 2 node creation process includes creating an internal parameter service who's job is to fulfill requests for parameter meta-data and to set and update node parameters. If your ROS 2 node does not support public parameters then you can save the resources consumed by the parameter service. Disable the node parameter service by setting the `NodeOption.startParameterServices` property to false as shown below:
+
+```
+let options = new NodeOptions(false);
+// or
+options.startParameterServices = false;
+
+let node = new Node(nodeName, namespace, Context.defaultContext(), options);
+```
+
+## Tip-2: Disable LifecycleNode Lifecycle Services
+The LifecycleNode constructor creates 5 life-cycle services to support the ROS 2 lifecycle specification. If your LifecycleNode instance will not be operating in a managed-node context consider disabling the lifecycle services via the LifecycleNode constructor as shown:
+
+```
+let enableLifecycleCommInterface = false;
+
+let node = new LifecycleNode(
+  nodeName, 
+  namespace,
+  Context.defaultContext, 
+  NodeOptions.defaultOptions,
+  enableLifecycleCommInterface 
+);
+```

lib/node.js

@@ -918,7 +918,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {string} nodeName - The name of the node.
    * @param {string} namespace - The name of the namespace.
    * @param {boolean} noDemangle - If true topic names and types returned will not be demangled, default: false.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getPublisherNamesAndTypesByNode(nodeName, namespace, noDemangle = false) {
     return rclnodejs.getPublisherNamesAndTypesByNode(
@@ -934,7 +934,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {string} nodeName - The name of the node.
    * @param {string} namespace - The name of the namespace.
    * @param {boolean} noDemangle - If true topic names and types returned will not be demangled, default: false.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getSubscriptionNamesAndTypesByNode(nodeName, namespace, noDemangle = false) {
     return rclnodejs.getSubscriptionNamesAndTypesByNode(
@@ -949,7 +949,7 @@ class Node extends rclnodejs.ShadowNode {
    * Get the list of service topics discovered by the provided node for the remote node name.
    * @param {string} nodeName - The name of the node.
    * @param {string} namespace - The name of the namespace.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getServiceNamesAndTypesByNode(nodeName, namespace) {
     return rclnodejs.getServiceNamesAndTypesByNode(
@@ -962,31 +962,31 @@ class Node extends rclnodejs.ShadowNode {
   /**
    * Get the list of topics discovered by the provided node.
    * @param {boolean} noDemangle - If true topic names and types returned will not be demangled, default: false.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getTopicNamesAndTypes(noDemangle = false) {
     return rclnodejs.getTopicNamesAndTypes(this.handle, noDemangle);
   }
 
   /**
    * Get the list of services discovered by the provided node.
-   * @return {array} - An array of the names and types.
+   * @return {Array<{name: string, types: Array<string>}>} - An array of the names and types.
    */
   getServiceNamesAndTypes() {
     return rclnodejs.getServiceNamesAndTypes(this.handle);
   }
 
   /**
    * Get the list of nodes discovered by the provided node.
-   * @return {array} - An array of the names.
+   * @return {Array<string>} - An array of the names.
    */
   getNodeNames() {
     return this.getNodeNamesAndNamespaces().map((item) => item.name);
   }
 
   /**
    * Get the list of nodes and their namespaces discovered by the provided node.
-   * @return {array} - An array of the names and namespaces.
+   * @return {Array<{name: string, namespace: string}>} An array of the names and namespaces.
    */
   getNodeNamesAndNamespaces() {
     return rclnodejs.getNodeNames(this.handle);
@@ -1028,7 +1028,7 @@ class Node extends rclnodejs.ShadowNode {
    * Get the list of parameter-overrides found on the commandline and
    * in the NodeOptions.parameter_overrides property.
    *
-   * @return {array} - An array of Parameters
+   * @return {Array<Parameter>} - An array of Parameters.
    */
   getParameterOverrides() {
     return Array.from(this._parameterOverrides.values());
@@ -1242,7 +1242,7 @@ class Node extends rclnodejs.ShadowNode {
   /**
    * Get the names of all declared parameters.
    *
-   * @return {string[]} - The declared parameter names or empty array if
+   * @return {Array<string>} - The declared parameter names or empty array if
    *    no parameters have been declared.
    */
   getParameterNames() {