The CPU usage of autoware is too high

[beginningfan]

During our use of autoware, the CPU usage is often too high until the load is completely full

The branch of autoware we use is release/2023.09, with almost no modifications made to autoware.launch.xml, only setting the perception_mode to lidar and rviz to false

The CPU we use is i7-9700TE, and the LiDAR is ouster64

[liuXinGangChina]

mits-san, In order to find out why, dose any additional info shall we provide? @mitsudome-r

[beginningfan]

Our perception_mode is lidar. We only use a lidar of ouster-64, no camera nor radar

[mitsudome-r]

Could you provide a rosbag with the following topics:

• lidar
• tf
• vehicle velocity and vehicle steering information (e.g., /vehicle/status/velocity_status and /vehicle/status/steering_status)

[mitsudome-r]

Could you check this page and try some of the solutions provided?
Especially, could you check if you are building with Release option?
e.g., ( colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release )

[beginningfan]

I recorded two bags. But the files are a bit large (900M in total). Where is the best place to upload the bags? Is there any Google Cloud Drive provided by the AWF?

[beginningfan]

@mitsudome-r
Here is the Google Cloud Drive link of the bags