High CPU use when running multiple instances of ArgusMonoNode

[SyedShayaan]

ISSUE: I am running a 7 gmsl camera's using the argus mono camera node and I am getting high CPU usage .

SYSTEM:

• Jetson AGX Orin Industrial
• CPU(s): 8 core
• RAM 30 gig

CAMERA: LI-IMX568-GMSL2-105H

Furthermore, if I add isaac ros h264 encoder to the pipeline, my cpu utilization goes to 100% for all 8 cores, and in jtop I can see the NVENC toggle on and off.

JTOP before running 7 camera nodes:

JTOP after running 7 camera nodes:

Launch File:

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

def generate_launch_description():    
    # Define parameters for each camera module
    camera_modules = [
        {'camera_id': 6, 'module_id': 0, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_0', 'optical_frame_name': 'left_cam_0', 'camera_info_url': ''},
        {'camera_id': 2, 'module_id': 2, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_2', 'optical_frame_name': 'left_cam_2', 'camera_info_url': ''},
        {'camera_id': 3, 'module_id': 2, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_2', 'optical_frame_name': 'left_cam_2', 'camera_info_url': ''},
        {'camera_id': 0, 'module_id': 4, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_4', 'optical_frame_name': 'left_cam_4', 'camera_info_url': ''},
        {'camera_id': 1, 'module_id': 4, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_4', 'optical_frame_name': 'left_cam_4', 'camera_info_url': ''},
        {'camera_id': 4, 'module_id': 5, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_5', 'optical_frame_name': 'left_cam_5', 'camera_info_url': ''},
        {'camera_id': 5, 'module_id': 5, 'mode': 0, 'fsync_type': 1, 'camera_type': 0, 'camera_link_frame_name': 'camera_5', 'optical_frame_name': 'left_cam_5', 'camera_info_url': ''}
    ]

    # Define nodes for each camera module
    camera_nodes = []

    for idx, module in enumerate(camera_modules):
        camera_node = ComposableNode(
            name=f'argus_mono_{idx}',
            package='isaac_ros_argus_camera',
            plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
            parameters=[module],
            remappings=[
                (f'left/image_raw', f'cam{module["camera_id"]}/image'),
                (f'left/camerainfo', f'cam{module["camera_id"]}/camerainfo')
            ]
        )
        camera_nodes.append(camera_node)

    # Create a container to hold all the nodes
    container = ComposableNodeContainer(
        name='argus_pipeline_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=camera_nodes,
        output='screen',
        arguments=['--ros-args', '--log-level', 'info']
    )

    return launch.LaunchDescription([container])

[WangGangUCAS]

"Received an image, do you need to modify the code?"