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We tested the ros topics with a program that spawns about 500 nodes and just as many topics. They are connected through a tree-like structure.

The first thing we noticed is that after all the nodes and topics have been created, the rosout process often uses a lot of processor time, up to 100%.

Also, when shutting down all the nodes (with Ctrl-C), the roscore seems to think some nodes are still running when looking at the output of the rxgraph program. I confirmed the nodes were not running as they didn't show up in the system monitor. Restarting the roscore solves the problem, but this is not ideal ofcourse.

Has anyone experienced these problems too, or does someone have any idea what we may doing wrong?

(I am an engineer in the same team as DTelgen)