Trying to use all computation power of our machine

[seanxu112]

Hello all,

Currently I am facing the problem that the control loop is running around 6hz with teb. My configuration is a 8hz lidar, and d435 camera running at 6 hz. When teb is running, most cpus are only running around 60%. All of them are not running at 100% (multi-threading enabled) When I decrease parameters such as no_inner_iteration, and hz increases. I am not sure why teb is not using all the computational power of the machine.

Sincerely, Sean