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optimized cpu usage

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This commit is contained in:
gfuse
2021-09-02 14:52:26 +02:00
parent a3aebd038c
commit 082c918ce7
2 changed files with 10 additions and 5 deletions
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GPU_version/vio/launch/Px30.launch
+1 -1
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@@ -1,6 +1,6 @@
<launch> <launch>
<!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" launch-prefix="xterm -e gdb args" / --> <node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
<!-- Camera topic to subscribe to --> <!-- Camera topic to subscribe to -->
<param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" /> <param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
GPU_version/vio/src/vo_node.cpp
+9 -4
View File
@@ -33,6 +33,7 @@
#include <vio/start.h> #include <vio/start.h>
#include <vio/stop.h> #include <vio/stop.h>
#include <vio/depth_filter.h> #include <vio/depth_filter.h>
#include <ros/callback_queue.h>
#if VIO_DEBUG #if VIO_DEBUG
#include <vio/visualizer.h> #include <vio/visualizer.h>
#endif #endif
@@ -169,11 +170,13 @@ void VioNode::cmdCb(const geometry_msgs::TwistPtr &cmd) {
} }
void VioNode::imu_th(){ void VioNode::imu_th(){
ros::NodeHandle nh; ros::NodeHandle nh;
ros::Subscriber imu_sub=nh.subscribe(vk::getParam<std::string>("vio/imu_topic", "imu/raw"),10,&VioNode::imuCb, this); ros::CallbackQueue Q;
ros::Subscriber cmd_sub=nh.subscribe(vk::getParam<std::string>("vio/cmd_topic", "cmd/raw"),10,&VioNode::cmdCb, this); nh.setCallbackQueue(&Q);
ros::Subscriber imu_sub=nh.subscribe(vk::getParam<std::string>("vio/imu_topic", "imu/raw"),10,&VioNode::imuCb, this,ros::TransportHints().tcpNoDelay());
ros::Subscriber cmd_sub=nh.subscribe(vk::getParam<std::string>("vio/cmd_topic", "cmd/raw"),10,&VioNode::cmdCb, this,ros::TransportHints().tcpNoDelay());
while(start_ && !boost::this_thread::interruption_requested()) while(start_ && !boost::this_thread::interruption_requested())
{ {
ros::spinOnce(); Q.callOne(ros::WallDuration(10,0.0));
usleep(1000); usleep(1000);
} }
@@ -198,6 +201,8 @@ int main(int argc, char **argv)
{ {
ros::init(argc, argv, "vio"); ros::init(argc, argv, "vio");
ros::NodeHandle nh; ros::NodeHandle nh;
ros::CallbackQueue Q;
nh.setCallbackQueue(&Q);
VioNode vio; VioNode vio;
ros::ServiceServer start = nh.advertiseService(vk::getParam<std::string>("vio/start", "start"), ros::ServiceServer start = nh.advertiseService(vk::getParam<std::string>("vio/start", "start"),
&VioNode::start, &vio); &VioNode::start, &vio);
@@ -210,7 +215,7 @@ int main(int argc, char **argv)
// start processing callbacks // start processing callbacks
while(ros::ok()) while(ros::ok())
{ {
ros::spinOnce(); Q.callOne(ros::WallDuration(30,0.0));
} }
printf("SVO terminated.\n"); printf("SVO terminated.\n");
return 0; return 0;