There are a couple different polling timeouts used that may affect this:
Hi list,
I've noticed that the ros programs are taking a bit more resources than
I expected when running on my embedded system, so I've written the
simple program below:
int main(int argc, char** argv)
{
ros::init(argc, argv, "RemoteControl");
ros::NodeHandle nh("~"); // <-- this line
while (ros::ok()) {
sleep(1);
}
return 0;
}
If I comment out "this line", then the cpu usage is 0%. When I include
it in, my cpu usage goes to 5 or even 10% (I'm testing on a Virtualbox
virtual machine). When I run it directly on my laptop, the load is not
noticeable, but the process run-time still goes up faster than I would
expect.
I will dig in roscpp tomorrow to identify exactly where the time is
spent, but I'd be glad to get some pointers if any.
Thanks
--
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp
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