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This is a patch, which isn't as good as fixing the root cause. But you can install cpulimit and throttle the CPU usage to whatever you please. I'm using 80% without any noticeable ill effects:

cpulimit -e hector_mapping -l 80

This I think it is normal. I run the Debian on an Intel PC and I used to see hector_mapping over 100% all the time.

You can adjust the parameters (for me, they're in hector_mapping/mapping_default.launch) to ignore as much of the laser scan as possible. Bump up laser_min_distance. Bump down map_pub_period and laser_max_distance. Maybe there are a patch, which isn't as good as fixing few other parameters that have some effect. In hector_nav.launch, decrease the root cause. But map size.

A hacky fix: you can install cpulimit and throttle the CPU usage to whatever you please. I'm using 80% without any noticeable ill effects:

cpulimit -e hector_mapping -l 80

I think it is normal. I run the Debian hector_mapping on an Intel PC and I used to see hector_mapping over 100% all the time.

You can adjust the parameters (for me, they're in hector_mapping/mapping_default.launch) to ignore as much of the laser scan as possible. Bump up laser_min_distance. Bump down map_pub_period and laser_max_distance. Maybe there are a few other parameters that have some effect. In hector_nav.launch, decrease the map size.

A hacky fix: you can install cpulimit and throttle the CPU usage to whatever you please. I'm using 80% without any noticeable ill effects:

cpulimit -e hector_mapping -l 80

I think it is normal. I run hector_mapping on an Intel PC and I used to see hector_mapping over 100% all the time.

You can adjust the parameters (for me, they're in hector_mapping/mapping_default.launch) to ignore as much of the laser scan as possible. Bump up laser_min_distance. laser_min_distance. Bump down map_pub_period map_pub_period and laser_max_distance. laser_max_distance. Maybe there are a few other parameters that have some effect. You can see a list of params on the wiki page. In hector_nav.launch, decrease the map size.

A hacky fix: you can install cpulimit and throttle the CPU usage to whatever you please. I'm using 80% without any noticeable ill effects:

cpulimit -e hector_mapping -l 80