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Fix high CPU usage #65

Merged
merged 4 commits into from
Apr 6, 2022
Merged

Fix high CPU usage #65

merged 4 commits into from
Apr 6, 2022

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hsd-dev
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@hsd-dev hsd-dev commented Jul 27, 2021

Fixes #63

The CPU consumption comes down to ~10%

@hsd-dev hsd-dev mentioned this pull request Jul 27, 2021
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@Arthav24
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Frequency dropped from 25 to 12 in 100Hz mode and from 12 to 6 in 50Hz mode

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hsd-dev commented Apr 4, 2022

pushed new changes. Now frequency is as expected even after disabling and enabling layers:

rosrun dynamic_reconfigure dynparam get /r2300_node 
{'scan_frequency': 100, ...

rostopic hz /cloud
average rate: 24.789
	min: 0.008s max: 0.074s std dev: 0.00627s window: 1166

@hsd-dev hsd-dev changed the title [WIP] Fix high CPU usage Fix high CPU usage Apr 5, 2022
@hsd-dev hsd-dev merged commit 6c3192b into main Apr 6, 2022
@hsd-dev hsd-dev deleted the fix_while_loop branch April 6, 2022 08:55
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Very high cpu usage with R2300
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@hsd-dev @Arthav24