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What kind of machine are you using? If it has low CPU power (such as a Raspberry Pi2) and you accidentally build without optimization, this might explain the issues observed. If you could edit your question with additional information that would be helpful.

For reference, with optimization on the tutorial ran with 10% CPU consumption on a single CPU on a RPi2.

To build with optimization, run

catkin_make -DCMAKE_BUILD_TYPE=Release

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