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2016-06-30 13:52:05 -0500	asked a question	pointcloud_to_laserscan multiple threads and cpu usage I am using the pointcloud_to_laserscan node, with concurrency level 0. The node is running in the Pepper robot, with an Atom E3845, quad core processor at 1.91 GHz. The node is using 100% of the cpu and cannot keep up with the input point cloud at 10 Hz, with the output being published at less than 1 Hz. If I use top to follow the process and the multiple threads, I see 16 entries for the pointcloud_to_laserscan node. But only the first two use around 35% of the cpu, with the 3rd and 4th entries using around 10%, and almost no processing for all the other threads. If I changed the concurrency level to 1, there are multiple threads, but only one doing all the processing, at almost 100% cpu usage. The output rate in this mode is almost the same. In the end the multi-thread mode is using more or less the same amount of CPU time as 1 thread only. Why doesn't it use 100% of the cpu in each thread in the multi-threading mode?
2016-06-29 11:48:22 -0500	asked a question	shared libraries from catkin workspace lib directory before default ros I installed ROS in the NAO's operating system (Gentoo) following these instructions. Because I was having some problems with tf2, I compiled it from source in a catkin workspace. However during runtime it is linking with the default ROS libraries, and not the one in my workspace. A similar question can be found here. I verified that when I source the setup scripts from my workspace the LD_LIBRARY_PATH is not updated. Only the ROS environment variables change. If I update LD_LIBRARY_PATH manually, everything works fine. My question is, why is the setup script not updating the library path?