voxel_grid_node in MS2 Causing High CPU Load
Description
High CPU utilization is realized when map_publisher
is feeding a map to voxel_grid_cloude_node
for downsampling.
How to Reproduce
ade enter
source /opt/AutowareAuto/setup.bash
ros2 launch autoware_auto_avp_demo ms2.launch.py
In another terminal:
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Current Behavior
voxel_grid_cloud_node
that is used for downsampling the map is constantly using 80-100% of a CPU core.
Expected behavior
voxel_grid_cloud_node
should process the map published by map_publisher
once and publish the downsampled map. This should require very little CPU usage after the first iteration.