Merge pull request #233 from CPFL/fix_high_CPU_occupancy

Add sleep command to decrease CPU occupancy
autowarefoundation · Feb 9, 2016 · bdc66ac · bdc66ac
2 parents dbb4c6d + b1e531f
commit bdc66ac
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp b/ros/src/computing/perception/detection/packages/cv_tracker/nodes/obj_reproj/obj_reproj.cpp
@@ -73,6 +73,8 @@
 
 using namespace std;
 
+static constexpr double LOOP_RATE = 15.0;
+
 typedef struct _OBJPOS{
   int x1;
   int y1;
@@ -378,6 +380,7 @@ int main(int argc, char **argv){
   ndtGetFlag = false;
 
   tf::TransformListener listener;
+  ros::Rate loop_rate(LOOP_RATE);  // Try to loop in "LOOP_RATE" [Hz]
   while(n.ok())
     {
       /* try to get coordinate system conversion from "camera" to "map" */
@@ -390,6 +393,7 @@ int main(int argc, char **argv){
       }
 
       ros::spinOnce();
+      loop_rate.sleep();
 
     }
   return 0;

diff --git a/...src/computing/perception/detection/packages/lidar_tracker/nodes/obj_fusion/obj_fusion.cpp b/...src/computing/perception/detection/packages/lidar_tracker/nodes/obj_fusion/obj_fusion.cpp
@@ -12,6 +12,7 @@
 static constexpr uint32_t SUBSCRIBE_QUEUE_SIZE = 100;
 static constexpr uint32_t ADVERTISE_QUEUE_SIZE = 10;
 static constexpr bool ADVERTISE_LATCH = false;
+static constexpr double LOOP_RATE = 15.0;
 
 ros::Publisher obj_pose_pub;
 
@@ -173,7 +174,7 @@ int main(int argc, char* argv[])
     obj_pose_pub = n.advertise<visualization_msgs::MarkerArray>("obj_pose", ADVERTISE_QUEUE_SIZE, ADVERTISE_LATCH);
 
     tf::TransformListener trf_listener;
-
+    ros::Rate loop_rate(LOOP_RATE);  // Try to loop in "LOOP_RATE" [Hz]
     while (n.ok())
         {
             try {
@@ -185,6 +186,7 @@ int main(int argc, char* argv[])
             }
 
             ros::spinOnce();
+            loop_rate.sleep();
         }
 
     return 0;