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dora-rs / dora

DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed dataflow capabilities. Applications are modeled as directed graphs, also referred to as pipelines.
https://dora-rs.ai
Apache License 2.0
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High CPU Usage in the Dora Environment When Running SLAM with PCL Library #651

Open ZcanMelo opened 2 months ago

ZcanMelo commented 2 months ago

I am running the same SLAM algorithm code on the NVIDIA Orin platform using both Dora and ROS environments. ROS DORA The first image shows the CPU usage in the ROS environment, while the second image shows the CPU usage in the DORA environment.

Despite identical sensors and controllers, the CPU usage is significantly higher in the Dora environment. The high CPU consumption has been traced to the align function from the PCL library. align

I am seeking to understand the reason behind this difference in CPU usage and is considering whether it could be due to compatibility issues between the Dora environment and the PCL library.

Hennzau commented 2 months ago

Hi! thanks for the report, can you tell us what is your dora version and how you installed this version?

ZcanMelo commented 2 months ago

Hi! My Dora version is 0.3.2. I installed it via the Releases page, downloading both the zip and whl files.

Hennzau commented 2 months ago

Okay, so 0.3.2 is old, can you give a try with 0.3.6?

ZcanMelo commented 2 months ago

I received it, thank you for your response, I will try it.

starlitxiling commented 2 months ago

Hi! Could you try to comment out your output statements, such as printf or cout, and then test again? You can use the fprintf function to output debugging information to a file.

ZcanMelo commented 2 months ago

Hello, thank you for your reply. I have already tried commenting out the print statements, but the effect was not significant.

haixuanTao commented 2 months ago

Are you sure, you're running the same frequency?