CPU efficiency not optimal?

[dmame]

Hi,

I am using the melodic version of this package. And the cpu consumption is more than 100%. Is it normal, or I might set something wrong. Thanks in advance!

The sensor is:

• Orbbec Astra camera
• depth image size 160*120 (QQVGA) @ 30 FPS
• FOV: 60° horiz x 49.5° vert. (73° diagonal)

The setting is as follows:

rgbd_obstacle_layer:
  enabled:               true
  voxel_decay:           3     #seconds if linear, e^n if exponential
  decay_model:           0      #0=linear, 1=exponential, -1=persistent
  voxel_size:            0.2   #meters
  track_unknown_space:   true   #default space is unknown
  observation_persistence: 0.0  #seconds
  max_obstacle_height:   1.0    #meters
  unknown_threshold:     15     #voxel height
  mark_threshold:        0      #voxel height
  update_footprint_enabled: true
  combination_method:    1      #1=max, 0=override
  obstacle_range:        2.5    #meters
  origin_z:              0.0    #meters
  publish_voxel_map:     true   # default off
  transform_tolerance:   0.2    # seconds
  mapping_mode:          false  # default off, saves map not for navigation
  map_save_duration:     60     #default 60s, how often to autosave
  observation_sources:   rgbd1_clear rgbd1_mark
  rgbd1_mark:
    data_type: PointCloud2
    topic: camera/depth/points
    marking: true
    clearing: false
    min_obstacle_height: 0.3     #default 0, meters
    max_obstacle_height: 1.0     #defaule 3, meters
    expected_update_rate: 0.0    #default 0, if not updating at this rate at least, remove from buffer
    observation_persistence: 0.0 #default 0, use all measurements taken during now-value, 0=latest 
    inf_is_valid: false          #default false, for laser scans
    clear_after_reading: true    #default false, clear the buffer after the layer gets readings from it
    voxel_filter: true           #default off, apply voxel filter to sensor, recommend on 
    voxel_min_points: 0          #default 0, minimum points per voxel for voxel filter
  rgbd1_clear:
    enabled: true                #default true, can be toggled on/off with associated service call
    data_type: PointCloud2
    topic: camera/depth/points
    marking: false
    clearing: true
    min_z: 0.1                   #default 0, meters
    max_z: 1.5                   #default 10, meters
    vertical_fov_angle: 0.7      #default 0.7, radians
    horizontal_fov_angle: 1.04   #default 1.04, radians
    decay_acceleration: 1.       #default 0, 1/s^2. If laser scanner MUST be 0
    model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar

[SteveMacenski]

Turn off voxel map publishing, thats a debug tool only. That will generally increase consumption greatly.

For other configuration assistance, as on ROS Answers or read the readme