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

• 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.

ros2 launch を介して micro_ros_agent を起動し、htop でそのプロセスを監視し、示されている ros2 topic pub コマンドでトピックを作成して、報告を再現します。CPU スパイクを rclcpp のパブリケーションの場合と比較し、micro_ros_agent におけるトピック作成の経路を追跡します。原因が特定され、トピックの作成によって報告されている過剰な CPU 使用率が発生しなくなれば完了です。