Hi,

I encounter this well known issue with the global costmap:

[ WARN] [1690554476.967147020]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 12.3751 seconds

I found also many answer in the web, but none of those resolve my issue. Someone suggest to comment "r.sleep()" in this line, someone suggest to reduce global costmap dimension or resolution... None of these solutions resolved the issue.

So, I looked for the source of the problem and I found that the action that causes this large delay is the lock of the mutex at these two lines: LayeredCostmap::updateMap and Costmap2DPublisher::publishCostmap.

How can I solve this problem? Anyone can help me?

Here below my config files:

costampcommonparams.yaml (Here I write only the global costmap params):

robot_base_frame: base_link
transform_tolerance: 0.5
map_type: costmap
origin_x: 0.0
origin_y: 0.0
footprint: [[1.25,0.4],[-0.4,0.4],[-0.4,-0.4],[1.25,-0.4]] 
footprint_padding: 0.3
always_send_full_costmap: True


map_layer_global:
  enabled: True
  unknown_cost_value: 255 
  lethal_cost_threshold: 255 
  map_topic: /mapper/map/move_base 
  first_map_only: True 
  subscribe_to_updates: False 
  track_unknown_space: False 
  use_maximum: False
  trinary_costmap: True 

inflation_layer_global: 
  enabled: True
  cost_scaling_factor: 2.58
  inflation_radius: 1.1
  inflate_unknown: True


obstacles_layer_global:
  enabled: True
  cost_scaling_factor: 2.0
  obstacle_range: 14.0
  raytrace_range: 15.0
  inflation_radius: 0.7
  track_unknown_space: False
  combination_method: 1
  max_obstacle_height: 2.5 
  lethal_cost_threshold: 100
  unknown_cost_value: 255     
  footprint_clearing_enabled: True
  observation_sources: base_laser_scan_sensor_clearing base_laser_scan_sensor_marking top_laser_scan_sensor_clearing top_laser_scan_sensor_marking 
  base_laser_scan_sensor_clearing: {sensor_frame: scan_fl, data_type: LaserScan, topic: sick_fl/scan, marking: False, clearing: True}
  base_laser_scan_sensor_marking: {sensor_frame: scan_fl, data_type: LaserScan, topic: sick_fl/scan, marking: True, clearing: False}
  top_laser_scan_sensor_clearing: {sensor_frame: scan_br, data_type: LaserScan, topic: sick_br/scan, marking: False, clearing: True}
  top_laser_scan_sensor_marking: {sensor_frame: scan_br, data_type: LaserScan, topic: sick_br/scan, marking: True, clearing: False}

globalcostampparams.yaml:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 3.0
  static_map: false
  width: 12.0
  height: 12.0
  resolution: 0.3
  raytrace_range: 13.0
  always_send_full_costmap: False

  plugins: 
        - {name: map_layer_global, type: "costmap_2d::StaticLayer" }
        - {name: obstacles_layer_global,  type: "costmap_2d::ObstacleLayer" }
        - {name: inflation_layer_global,  type: "costmap_2d::InflationLayer" }

I use ROS noetic on Ubuntu 20 with an 11th Gen Intel(R) Core(TM) i5-1145G7E @ 2.60GHz with 8Gb RAM.

PS. htop says that resources are not full (cpus and ram)

catkin_make -DCMAKE_BUILD_TYPE=Release