Open JMvanBruggen opened 1 month ago
I see 100% cpu often but don't know what triggers it.
I flamegraphed it when I caught it. Maybe we can compare flamegraphs and give the maintainers a hint.
# Install perf
sudo apt install linux-tools-generic
cargo install flamegraph
# Read the help
flamegraph -h
# Use sudo to run flamegraph
flamegraph --root -p $(pgrep zenoh-bridge-ro)
# Press Ctrl+c after 20-30sec
# a flamegraph.svg file is created
# Open flamegraph.svg in a browser and attach it here.
NOTE: Its an interactive svg but appears that github view is doing something to prevent the interactivity. NOTE2: dpkg-query --show zenoh-bridge-ros2dds zenoh-bridge-ros2dds 0.11.0-stable
Describe the bug
Zenoh router takes 100% CPU usage after closing a transient local publisher/subscriber.
To reproduce
zenoh-bridge-ros2dds -m router
rclcpp::QoS(1).transient_local()
Router keeps functioning but CPU usage spikes to 100% and stays that way. No warning or error messages. I have to restart the router to fix it. But everytime a node with a transient local publisher/subscriber fails or respawns this happens. I first noticed this on the client side by the way, but that has an extra reproduction step, not sure if is caused by the same issue or needs a new item.
zenoh-bridge-ros2dds -m router
zenoh-bridge-ros2dds -e tcp/ROBOT_IP:7447 -m client
In this case there are warnings on the router side:
System info