Comments (1)
The issue is related to default OpenMP waiting policy, with libpointmatcher built with OpenMP support. If we do:
OMP_WAIT_POLICY=passive ros2 run rtabmap_odom icp_odometry
Everything is fine:
[1717349566.822038882]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.003475s
[1717349566.841366103]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.003860s
[1717349566.855502721]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.003687s
[1717349566.878782602]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.003916s
[1717349566.889291191]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.003879s
[1717349566.909944525]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.004162s
[1717349566.919669341]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.004131s
[1717349566.944726090]: Odom: ratio=0.686275, std dev=0.000100m|0.000173rad, update time=0.004026s
Cpu before launching icp_odometry:
Cpu usage after launching icp_odometry (there is no significant difference):
I also saw that when using introlab3it/rtabmap_ros:humble
or introlab3it/rtabmap_ros:humble-latest
docker containers. We should add "-e OMP_WAIT_POLICY=passive
" when launching the container.
from rtabmap_ros.
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