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Published 20 hours ago • verified publisher icon Myzhar

High CPU Usage

Open mattwilliamson opened this issue 8 months ago • 1 comments

On Nvidia Orin Nano, ldlidar node uses 100% of one core. This seems high for me since it's just parsing out serial input and publishing. Comparatively, nav2 uses less. Is there any way to reduce it? Lower publish rate or something? Maybe we should try to use static memory or maybe some external library like CUDA or something to speed it up?

  • OS: Ubuntu 22.04
  • ROS2 version: humble (nvidia docker image)
  • Jetson Orin Nano

I'm just using the stock launch file and parameters.

mattwilliamson avatar Jun 07 '24 18:06 mattwilliamson