nodelet consuming high resources

asked 2021-06-18 23:00:41 -0500

dinesh gravatar image

updated 2021-06-18 23:01:46 -0500

I am running


image description alsong with realsense2_camera rs_camera.launch. Here what i saw is that this nodelets are consuming all the 4 cores of the raspberry pi 4B totally. How can i stop the nodelets from consuming full cpu?

edit retag flag offensive close merge delete


Don't run the nodelets?

But seriously: how are you starting everything? depth_image_proc is a nodelet, so in order for it to work as efficiently as possible, you'll have to make sure you abide by the rules of nodelets, which in this case means: load them in the same manager as the producer of the messages they are consuming.

If you don't load it in the same manager, it's going to act as a regular node, incurring all the overhead in terms of latency and CPU usage when exchanging messages.

Finally: if you've built everything from-source, you'll also need to make sure you built your workspace with optimisations enabled. And even if you've done all of this, it could just be that whatever the nodelet is doing actually requires that much CPU.

gvdhoorn gravatar image gvdhoorn  ( 2021-06-19 09:12:42 -0500 )edit