Open sagarvl96 opened 1 year ago
Rtabmap/DetectionRate=3.5
is high, default 1 hz should be enough unless you are on a car or a fast robot.
rtabmap_odom::RGBDOdometry
will always try to process as many frames as possible, reaching 100% CPU usage on one core if it cannot process frames under camera frame rate. You could reduce frame rate of the camera driver, throttle the topics before odometry node, add max_update_rate
or increase Odom/ImageDecimation
parameters to odometry node. You may also try these options: http://wiki.ros.org/rtabmap_ros/Tutorials/Advanced%20Parameter%20Tuning#Increase_Speed
cheers, Mathieu
I am trying to map out my environment using Rtabmap on an OAK-D-S2 camera. This is the launch file I am using (ROS2 Humble):
I am trying to map out the environment by driving around the robot with a game pad. I am running the rtabmap in a docker container. When I check my docker stats, I realize that I am using around 120% of the CPU. I have also not called the
rtabmap_viz
. How could I decrease the CPU usage? Are there a few parameters that I can tune to optimize the entire mapping process and decrease CPU usage on the robot?