Fixing O(N²) Entity Addition in ROS 2's CallbackGroup
How a simple erase-remove in every add_timer() call turned entity registration into a quadratic bottleneck — and the 71x speedup from moving cleanup to the right place.
How a simple erase-remove in every add_timer() call turned entity registration into a quadratic bottleneck — and the 71x speedup from moving cleanup to the right place.