High resource usage

[mica-angeli]

I noticed that running this driver, although it works, it consumes 100% of one of my CPU cores:

ricardo@src-09-lx:~$ top | grep advanced
27266 ricardo   20   0  334196   9900   9000 R  87.5  0.1 990:23.06 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.3  0.1 990:26.08 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.3  0.1 990:29.09 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.3  0.1 990:32.10 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R 100.0  0.1 990:35.11 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R  97.0  0.1 990:38.03 advanced_n+ 
27266 ricardo   20   0  334196   9900   9000 R  99.3  0.1 990:41.01 advanced_n+ 

By comparison, running a ROS driver for a different IMU consumes about 0.1% of the processor. I haven't looked into the code yet, but I suspect that it's polling for data over and over again and consuming processor cycles doing nothing.

[kylerlaird]

It's been a long time since I updated my fork, but one of the things I did was slash the CPU utilization. You might want to take a look at it.

[mica-angeli]

Thanks for the heads up. Unfortunately, I was not able to use your fork. Instead, I looked through all the existing forks and used cosama's. I'm initiating a pull request in his behalf now.

[nznobody]

Note: This repository is abandoned by Advanced Navigation Support [email protected]. When asking them about this, they pointed me to:

• https://github.com/advanced-navigation/ros1-driver
• https://github.com/advanced-navigation/ros2-driver