voxl-mpa-to-ros high system usage due to repeating invoking voxl-list-pipes

  • When we start t voxl-mpa-to-ros, the system usage becomes very high, the CPU is overheat very quickly. I found out it is because it constantly executing shell script voxl-list-pipes. Although it is doing it at 1 second interval, but that script is quite complicated, it invokes a lot other shell commands, such as cat, grep, tr, sort ... I disabled this repeating invoking voxl-list-pipes, the system usage went down. The CPU was not overhead.

    The purpose for repeating invoking voxl-list-pipes is for handle pipe added after voxl-mpa-to-ros started. But in most case we start voxl-map-to-ros after the services are started. I think at least it should make this function configurable.

  • Dev Team

    This is great feedback, thank you! We keep our code open for just this purpose. We are happy to review a Pull Request if you have one?

  • I'll create one

  • @Chad-Sweet I also added skip n frame feature in the camera interfaces, It is quite useful to reduce the network traffic. Do you think should submit one full request with bother features or two pull requests?

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