When ros2 creates a new topic, the CPU usage is high

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- Hardware description: N/A
- RTOS: Freertos
- Installation type: micro_ros_setup
- Version or commit hash: humble

Steps to reproduce the issue
1. Start micro_ros_agent through ros2 launch;
2. htop -p `pidof micro_ros_agent` to check the change of CPU usage
3. Publish a message through ros2 topic pub /avoidance_status std_msgs/msg/UInt8 "{data: 0}", and you will find that the CPU usage soars from 7% to 30%, and then falls back to a stable state of 7%;
4. Create a publishing topic through rclcpp, only create it once, send at 20hz frequency for 30s, stop for 3min, and then send again..., the CPU usage only changes when starting the node, and there is no fluctuation during the middle operation.

Is there any way to solve this problem? If the CPU is insufficient, the main controller will not be able to run.

Reproduce el informe iniciando micro_ros_agent mediante ros2 launch, supervisando su proceso con htop y creando el topic con el comando ros2 topic pub mostrado. Compara el pico de CPU con el caso de publicación de rclcpp y rastrea la ruta de creación del topic en micro_ros_agent. Se considerará terminado cuando se haya identificado la causa y la creación del topic ya no provoque el uso excesivo de CPU informado.

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