rospy publishers using tons of CPU
I have a node with a number of subscribers and publishers in it. Most of them have no problem, but 2 in particular running at 100hz are taking up about 15% of an i7 CPU set with a queue_size of 10.
When the application runs with just the publish line commented out, it drops 15%. I've never seen anything like this in C++ and wasn't sure if there was some quirk in python needed to address high rate topics.
Any thoughts?
It's hard to comment on this without seeing your code, but I've mostly used
rospy
and haven't run into this.