KKSTB

I have no idea. Maybe try these: 1. I suspect its network problem causing a lot of traffic errors. Try to disconnect all networks, or use cyclone DDS and set...

My plain guess of reasons: 1. Nodes in SingleThreadedExecutor doesn't need to communicate across threads, so there is no network traffic (I am not sure if this is true at...

@MatthijsBurgh thank you for your analysis. In fact py-spy has an -n option to also sample non-python libraries to get a better look of where takes the most CPU time,...

@astroseger are you using fastDDS? Would you also try `MultiThreadedExecutor` with cycloneDDS to see if there is any difference in CPU load? Thanks.

Thanks @astroseger. It seems im able to repeat the CPU high load issue when using fastrtps and separating pub and sub nodes. The sub node has unusually high CPU load....

Hi @Rezenders. I used it in a large project to launch many other python launch files without problem. Maybe you can try the followings to see what's wrong: 1. Just...

I did encounter some problem when my project grows to use several event loops. So a slight change to the code in OP is needed: From: ```python3 loop = asyncio.get_event_loop()...

> The process exits cleanly, but the `demo_pkg` node is till running. This is because using SIGTERM can result in orphaned processes (https://github.com/ros2/launch/blob/d9ffd805e3d9ca42fe4dd0019ae095e9eb0d4d72/launch/launch/launch_service.py#L209C53-L209C85). To shutdown children processes, LaunchService.shutdown() should be...

Controller spawner has a wait for service timeout of 10sec only. Could this be caused by a newly started ursim where the boot time takes more than 10sec?