cpu requirement to run Autoware
I am trying to run 3D perception demo on Autoware.auto. The demo runs properly. Then I inserted the code into each node to count the latency and the number of how many times the callback functions are called during the demo.
While the point_cloud_filter_transform_node
and ray_ground_classifier_cloud_node
are both called 4716 times totally, the euclidean_cluster_node
are only called 815 times, which should be as many as the other two nodes actually.
After the investigation I found out, the reason behind that is the very high-latency of euclidean_cluster_node
, varing from 50ms to 2s. The high-latency delays the processing of next upcoming messages, and the node discards the expired messages (QoS queue=10). It means nearly 4000 messages are discarded because outdated.
I'm aware of there's no least CPU requirement for running Autoware, but what is the recommeded CPU requirement? My CPU is i7-6700HQ @ 2.60GHz
, is this enough for running Autoware along? If not, does runing the node on GPU CUDA can solve the high-latency problem?