[Performance issues] Unstable CPU usage, 19%-41.6%

zymouse commented 4 months ago

Introducing.

ros2_v4l2_camera is a great hardware accelerated camera ros driver. I did the following test.

test environment

jetpack6.0
Jetson AGX Orin
ros2 humble
branch: galactic
commit：1029edd3a763b73ac44aad0c5175f1ef88c42d4d
ros2 run rqt_image_view rqt_image_view

Determined in advance:

It works fine, I can subscribe to the "Camera Images" thread properly!
Using the same camera: sensing

Problem Description: The test environment is the same as the test method

Starting ros2 run v4l2_camera v4l2_camera_node
Using ros2 run rqt_image_view rqt_image_view

Test Description: CPU usage stabilized at around 20% in the morning test

In the afternoon, the CPU usage stabilized at around 37%.

The CPU usage is not the same in both tests, which I don't think is a normal phenomenon

@knzo25

knzo25 commented 4 months ago

@manato I think this falls under your expertise rather than mine :sweat_smile:

manato commented 2 months ago

@knzo25 Thanks for connecting.

@zymouse The CPU usage possibly gets higher just after trying to establish ROS connection, and then gets stable at low usage after a while. I would appreciate it if you check the usage after a while to see the usage gets stable. Besides, I guess the reported value might vary depending on the load sample frequency. When you observe a similar high CPU usage, I would also appreciate if you could restart load measurements a few times just in case. Thanks.

tier4 / ros2_v4l2_camera