High CPU usage

[marcantoinecouture]

Expected Behavior

Node uses a respectable CPU amount

Current Behavior

Node uses around 15 to 25% of a CPU, even hydrophones are not connected

Possible Solution

• Loop too fast (reduce ros loop)
• Add new threads and use signals to handle communication

[supertoto29]

The code has been to modify the communication handling with this pull request #12. Using threads for obtaining and parse of the data.