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Fix:: Reduce CPU usage by enabling intra-process communication and b… #2089

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3 changes: 1 addition & 2 deletions mavros/src/lib/mavros_router.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -469,8 +469,7 @@ std::pair<bool, std::string> ROSEndpoint::open()
}

try {
auto qos = QoS(
1000).best_effort().durability_volatile();
auto qos = rclcpp::SensorDataQoS();
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@vooon vooon Dec 19, 2025

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What for? It's queue size is 5, which may be small.

this->source =
nh->create_publisher<mavros_msgs::msg::Mavlink>(
utils::format(
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3 changes: 1 addition & 2 deletions mavros/src/lib/mavros_uas.cpp
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Expand Up @@ -346,8 +346,7 @@ rcl_interfaces::msg::SetParametersResult UAS::on_set_parameters_cb(

void UAS::connect_to_router()
{
auto qos = rclcpp::QoS(
1000).best_effort().durability_volatile();
auto qos = rclcpp::SensorDataQoS();

this->sink =
this->create_publisher<mavros_msgs::msg::Mavlink>(
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2 changes: 1 addition & 1 deletion mavros/src/lib/uas_executor.cpp
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Expand Up @@ -29,7 +29,7 @@ UASExecutor::UASExecutor(const rclcpp::ExecutorOptions & options)
size_t UASExecutor::select_number_of_threads()
{
// return std::max<size_t>(16, std::min<size_t>(std::thread::hardware_concurrency(), 4));
return std::clamp<size_t>(std::thread::hardware_concurrency(), 4, 16);
return std::clamp<size_t>(std::thread::hardware_concurrency(), 2, 8);
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@vooon vooon Dec 19, 2025

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I'd like to introduce UAS_MAXPROC env var, but it must be >= 2.

}

void UASExecutor::set_ids(uint8_t sysid, uint8_t compid)
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2 changes: 1 addition & 1 deletion mavros/src/mavros_node.cpp
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Expand Up @@ -29,7 +29,7 @@ int main(int argc, char * argv[])
rclcpp::executors::MultiThreadedExecutor exec(rclcpp::ExecutorOptions(), 2);

rclcpp::NodeOptions options;
// options.use_intra_process_comms(true);
options.use_intra_process_comms(true);
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@vooon vooon Dec 19, 2025

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Have you tested it? Does it work if the router and uas in the different processes (i mean if that scenario continue to work)?


std::string fcu_url, gcs_url, uas_url;
std::string base_link_frame_id, odom_frame_id, map_frame_id;
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