Revision history [back]

I think 10 Hz is quiet fast maybe lower it to something like 5 Hz (depends on your application of course).

How many inputs/layers do your costmaps have?

How large is the inflation radius?(This could be computationally havy)

Do you use a custom costmap layer?(Until now i was quiet happy with the performance of the standard ones)

In general please upload you costmap configs along with your question. This will help others to understand your setup.