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2016-06-21 11:17:01 -0500 | asked a question | High CPU usage for AMCL and move_base under namespace I am trying to run the ROS navigation stack on a turtlebot, with everything under a namespace (in this case, the namespace is However, when I switch to my custom configuration file that has everything running under a namespace, the cpu usage for amcl and for move_base each jump to approximately 80%, pushing the total usage for each core to 100%. Amcl is only able to publish the transform at around 5Hz, and the most recent transform available from This warning is published at approximately 2Hz. If I increase the However, even if I increase the transform tolerance, I still occasionally get the following warnings: The percentage of messages dropped varies from around 90% to 100%. And I get errors like the following sporadically whether or not I increase the I have assumed that all of these problems are caused by amcl not publishing the transform as quickly as it should because of some performance issue, but I have not come across any differences between my launch configuration and the default that would increase the cpu load. All of the configuration files are located in the |