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I think the Ruiz is not using the GPU in default. I also encounter this issue (low fps) in my desktop (i5-10400, RTX3090, 32GB ram). This desktop is clean built with ROS2 on ubuntu 20.04.5. When I just run Rviz2 it can achieve 31 fps, but when loading point cloud.. only 1-2 fps.
Fun fact is that I have also tried to build on a laptop and a desktop (same GPU, but i4-4790). Both machine works just fun and achieved a 20-30 fps when loading with the same pcd point cloud.
Totally out of mind how to fix this. Not sure is the kernel or what kind of low-level issue.
I used the same Dockerfile to rebuild same image on different machine, the i5-10400 (I got 2 machine with same spec) both having this low fps issue, no matter source build / docker build.
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