fix high cpu usage (#9) #74
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* Fix default parameters in README Some default parameters in the README file are wrong after looking at the source code https://github.com/ros-perception/pointcloud_to_laserscan/blob/rolling/src/pointcloud_to_laserscan_node.cpp#L58 Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit be047d2) Co-authored-by: Carlos Andrés Álvarez Restrepo <[email protected]>
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Any update on this? Is it worth applying this change to a local fork if using this library still? If it is still the case perhaps someone should open an issue on the tf2 repo about that? |
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Galactic is EOL and Foxy is close to be. Re-targeting to |
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@leocornelius thank for the bump. I'd be onboard with merging this and even submitting an issue upstream if there was some raw evidence to back this high cpu usage observation. Neither this PR nor #9 have shown any. An MRE would be ideal, but I'm OK even with some basic profiling results. |
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tf2::doTransform is slow and high cpu usage,
so change it to pcl_ros::transformPointCloud.