Regarding the high CPU usage of the ekf_localizer node #5210
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yuanchao16
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I think that Please access the following links to get a user manuals for Linux
After preparing the tools, please execute following commands while Autoware and
This command generates
Please attach the |
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Use official data and commands:
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
When the ekf_localizer node is started together in the autoware project and the data packet is played, the CPU usage is as follows:
When I move the ekf_localizer node out of the Autoware project and compile and run it separately, the CPU usage is as follows:
Could you please let me know if any optimizations have been made to reduce CPU usage in the Autoware project? thanks
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