Michel Hidalgo

> But how can this happen in a node that does not use services? Client libraries such as `rclcpp` use services under the hood (e.g. [here](https://github.com/ros2/rclcpp/blob/master/rclcpp/src/rclcpp/parameter_service.cpp)).

@jparisu please, let me know when this valuable pieces of documentation are in a public and visible place so I can close this ticket.

@roni-kreinin a minimal yet complete example to reproduce your issue would help greatly. Loop playback of a bagfile would do.

Good catch @mdepp. Would you be willing to contribute a fix?

@XavierTrudeau a backtrace would surely help.

Galactic is EOL and Foxy is close to be. Re-targeting to `rolling`.

@leocornelius thank for the bump. I'd be onboard with merging this and even submitting an issue upstream *if* there was some raw evidence to back this high cpu usage observation....

Hmm, looks like this didn't draw much attention :sweat_smile:

Alright, I have a working patch for this (which I've been using for some time now). Would you be willing to accept the PR? CC @vladaionescu @alexcb @mikejholly as you...

@vladaionescu @alexcb @mikejholly friendly ping.