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ZJU-FAST-Lab / ego-planner

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Occupancy Grid Publish Rate #75

Closed Kaapeine closed 1 year ago

Kaapeine commented 1 year ago

Hello, I'm experiencing a weird issue. The occupancy grid publish rate keeps varying, depending on the point cloud input. If the point cloud comes from a 640x480 image, the grid map is published at 1.5 Hz. But if we switch to 480x270, then we get a 20 Hz Grid Map. Any idea why it would behave like this? The grid map publishing looks to be independent of the depth input, so why is the rate varying so much?

bigsuperZZZX commented 1 year ago

Please evaluate the computer performance.

Kaapeine commented 1 year ago

Yes, that was the bottleneck, thank you!