Fix:: Reduce CPU usage by enabling intra-process communication and b… #2089
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…y switching to sensor Qos
vooon
reviewed
Dec 19, 2025
| try { | ||
| auto qos = QoS( | ||
| 1000).best_effort().durability_volatile(); | ||
| auto qos = rclcpp::SensorDataQoS(); |
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What for? It's queue size is 5, which may be small.
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| rclcpp::NodeOptions options; | ||
| // options.use_intra_process_comms(true); | ||
| options.use_intra_process_comms(true); |
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Have you tested it? Does it work if the router and uas in the different processes (i mean if that scenario continue to work)?
vooon
reviewed
Dec 19, 2025
| { | ||
| // return std::max<size_t>(16, std::min<size_t>(std::thread::hardware_concurrency(), 4)); | ||
| return std::clamp<size_t>(std::thread::hardware_concurrency(), 4, 16); | ||
| return std::clamp<size_t>(std::thread::hardware_concurrency(), 2, 8); |
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I'd like to introduce UAS_MAXPROC env var, but it must be >= 2.
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Reduced CPU usage by enabling intra-process communication and by switching to sensor Qos.
Without intra-process comms, messages traverse the RMW and DDS layers even when publisher and subscriber are in the same process. Also there is a chance of aggressive default QoS on internal bus.