High CPU Usage - Githubissues

Myzhar / ldrobot-lidar-ros2

ROS2 package for LDRobot lidar. Based on ROS2 Lifecycle nodes

Apache License 2.0

65 stars 24 forks source link

High CPU Usage #22

Open mattwilliamson opened 5 months ago

mattwilliamson commented 5 months ago

On Nvidia Orin Nano, ldlidar node uses 100% of one core. This seems high for me since it's just parsing out serial input and publishing. Comparatively, nav2 uses less. Is there any way to reduce it? Lower publish rate or something? Maybe we should try to use static memory or maybe some external library like CUDA or something to speed it up?

OS: Ubuntu 22.04
ROS2 version: humble (nvidia docker image)
Jetson Orin Nano

I'm just using the stock launch file and parameters.

altineller commented 3 months ago

I am running same on RPI4, and I measured the cpu usage to be 10-12%. I also compared it with a previous driver, and found that it is about the same. So this must be a problem with your jetson or the docker image way of passing the serial data.