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

Source: https://forum.modalai.com/topic/1778/voxl-mpa-to-ros-high-system-usage-due-to-repeating-invoking-voxl-list-pipes
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-02-04 16:45:25 UTC by Dong Liu
Replies: 3 · Views: 1018

## Dong Liu · 2023-02-04 16:45:25 UTC

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.

## Reply by Chad Sweet (ModalAI staff) · 2023-02-06 19:40:34 UTC

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?

## Reply by Dong Liu · 2023-02-06 20:57:24 UTC

I'll create one

## Reply by Dong Liu · 2023-02-06 21:08:57 UTC (in reply to Chad Sweet)

@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?