micro-ROS / micro-ROS/rmw_microxrcedds
High CPU usage with int32_publisher
Nobody has claimed this yet.
- Dominant language
- C
- Stars
- 47
- Forks
- 36
- Avg merge
- 2d 19h
- Merged PRs (30d)
- 6
Description
Describe the bug
Having only timers on an executor makes rmw_wait() to spin without blocking. This causes high cpu usage and it's a problem on a RTOS with threading support.
To Reproduce
Just build int32_publisher from micro-ROS-demos.
Expected behaviour
rclc_executor_spin() should always be a blocking call without any service, client, subscription, or timer.
System information (please complete the following information):
- OS: Zephyr (but it shouldn't matter)
- ROS 2: Humble (but it shouldn't matter)
- Version: humble.
Additional context
https://micro-ros.slack.com/archives/CNC141G0N/p1684752941054099
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Build int32_publisher from micro-ROS-demos and trace the executor path through rclc_executor_spin() to rmw_wait(). Reproduce the CPU spin with only timers, then inspect the wait behavior and confirm done when the executor blocks instead of spinning in this configuration.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- c
- Domain
- operating-systems
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100