Comments (3)
fujitatomoya
commented on June 29, 2024
Here is my local environment result, ros2 topic hz shows stable user-space CPU consumption. (ros-humble-rclpy is
3.3.11-1jammy.20231117.192526)
root@tomoyafujita:~# ros2 topic pub -r 100 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
...<snip>
root@tomoyafujita:~# ros2 topic hz /turtle1/cmd_vel
...<snip>
average rate: 100.000
min: 0.008s max: 0.012s std dev: 0.00067s window: 1709
average rate: 100.000
min: 0.008s max: 0.012s std dev: 0.00067s window: 1809
average rate: 99.997
min: 0.008s max: 0.012s std dev: 0.00066s window: 1909then
tomoyafujita@~/DVT >ps -ef | grep ros2
root 3085732 3082361 11 10:40 pts/1 00:00:05 /usr/bin/python3 /opt/ros/humble/bin/ros2 topic pub -r 100 /turtle1/cmd_vel geometry_msgs/msg/Twist {linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}
root 3085745 3082901 10 10:40 pts/3 00:00:04 /usr/bin/python3 /opt/ros/humble/bin/ros2 topic hz /turtle1/cmd_vel
tomoyafujita@~/DVT >pidstat -h -r -u -v -p 3085732,3085745 5
Linux 5.15.0-88-generic (tomoyafujita) 12/05/2023 _x86_64_ (16 CPU)
...<snip>
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:41:35 AM 0 3085732 11.20 0.20 0.00 0.00 11.40 3 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:41:35 AM 0 3085745 10.40 0.20 0.00 0.00 10.60 0 1.00 0.00 489128 59672 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:41:40 AM 0 3085732 10.60 0.20 0.00 0.00 10.80 5 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:41:40 AM 0 3085745 10.00 0.00 0.00 0.00 10.00 0 1.00 0.00 489128 59672 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:41:45 AM 0 3085732 11.00 0.20 0.00 0.00 11.20 3 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:41:45 AM 0 3085745 10.60 0.00 0.00 0.00 10.60 13 1.00 0.00 489128 59672 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:41:50 AM 0 3085732 11.20 0.00 0.00 0.00 11.20 5 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:41:50 AM 0 3085745 10.60 0.20 0.00 0.00 10.80 10 1.00 0.00 489128 59672 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:41:55 AM 0 3085732 10.80 0.00 0.00 0.00 10.80 5 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:41:55 AM 0 3085745 10.20 0.00 0.00 0.00 10.20 11 1.00 0.00 489128 59936 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:42:00 AM 0 3085732 10.80 0.40 0.00 0.00 11.20 10 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:42:00 AM 0 3085745 10.40 0.40 0.00 0.00 10.80 9 1.00 0.00 489128 59936 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:42:05 AM 0 3085732 10.80 0.20 0.00 0.00 11.00 7 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:42:05 AM 0 3085745 9.60 0.60 0.00 0.00 10.20 0 1.00 0.00 489128 59936 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:42:10 AM 0 3085732 10.40 0.20 0.00 0.00 10.60 8 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:42:10 AM 0 3085745 9.80 0.40 0.00 0.00 10.20 14 0.60 0.00 489128 59936 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:42:15 AM 0 3085732 11.40 0.00 0.00 0.00 11.40 12 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:42:15 AM 0 3085745 10.40 0.60 0.00 0.00 11.00 8 0.00 0.00 489128 59936 0.18 10 -1 ros2
# Time UID PID %usr %system %guest %wait %CPU CPU minflt/s majflt/s VSZ RSS %MEM threads fd-nr Command
10:42:20 AM 0 3085732 10.60 0.20 0.00 0.00 10.80 12 0.00 0.00 620492 59844 0.18 10 -1 ros2
10:42:20 AM 0 3085745 10.00 0.20 0.00 0.00 10.20 14 0.00 0.00 489128 59936 0.18 10 -1 ros2from rclpy.
ionutnechita-intel
commented on June 29, 2024
Will try today again with clean OS install.
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ionutnechita-intel
commented on June 29, 2024
I reinstalled OS and this is not happened.
from rclpy.
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