100% of CPU Resources - Githubissues

SCU-RSL-ROS / radar_omnipresense

Robotic Operating System (ROS) publisher and service for the OmniPreSense short range radar (originally OPS241-A) ECL-2.0

Educational Community License v2.0

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100% of CPU Resources #12

Open capitalPSA opened 5 years ago

capitalPSA commented 5 years ago

Upon launching the node, System Monitor shows CPU usage at 100%. Is there a reason for allocating this much resource? Are there features that are turned on by default?

ROS: Kinetic Ubuntu: 16.04 Module: OmniPreSense OPS242 Built-from-source?: Yes

jimwhitfield commented 5 years ago

Hm, this surprises me. I don't think driver does a busy wait, though if the radar sensor is set to publish lots of data, the ROS driver will definitely take time to consume it. You might want to try a lower wait state (send a "WM" or "Z=1" for a 1000ms wait) and see if it drops a lot, If it stays 100% then there's definitely an error somewhere.

If you want to send email to customerservice@omnipresense.com we might be able to do a more-interactive help session. (www.omnipresense.com also has an online chat which we respond to immediately, too.)

capitalPSA commented 5 years ago

After sending "WM" over ttyACM0 and receiving a confirmation of wait time set to 1000, the radar publisher that is executed from the roslaunch file will continue to set the cpu resource at 100%.

I also compiled with the Release flag and there is still a 100% cpu usage (see above picture).

I will continue looking through the code and try to locate any area of interest.