MS2 Performance Issues
Description
During testing, several oddities and performance issues were noted while using the MS2 launch file here. These issues seem to be present without running any additional nodes or applications outside of the launch file itself (no simulator, bridge, etc.).
How to Reproduce
ade enter
source /opt/AutowareAuto/setup.bash
ros2 launch autoware_auto_avp_demo ms2.launch.py with_rviz:=False
In new terminal, run top
.
Current Behavior
-
voxel_grid_node
that is used for downsampling the map published bymap_publisher
is constantly using 80%-100% of a CPU core. #422 (closed) -
map_publisher
is constantly using ~10% of a CPU core after the initial publish. I would expect this to be essentially 0. #422 (closed) -
The ndt_map_publisher_exe
node reports the error[ndt_map_publisher_exe-7] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
even though only one instance of the node is being launched. #423 (closed)
Expected behavior
When running the MS2 launch file, all nodes should launch without error and maintain reasonable resource utilization.
Edited by Joshua Whitley