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After edit: you never mentioned that you were doing things with Octomaps, which is why I assumed (and I think @ahendrix as well) that the performance bottleneck was within any of the subsystems RViz uses, and the performance problems were always there, even when just doing simple path planning with MoveIt.
If performance degrades over time, perhaps you've ran into a memory leak issue. RViz has had some of those in the past (see issues/556 and issues/695 fi). You could use any of the standard tools to catch those.
To get a feeling for which nodes / processes are taking up all the CPU time, try to run rqt_top or just normal top and see what is going on.
| | 2 | No.2 Revision |
After edit: you never mentioned that you were doing things with Octomaps, which is why I assumed (and I think @ahendrix as well) that the performance bottleneck was within any of the subsystems RViz uses, and the performance problems were always there, even when just doing simple path planning with MoveIt.
If performance degrades over time, perhaps you've ran into a memory leak issue. RViz has had some of those in the past (see issues/556 and issues/695 fi). You could use any of the standard tools to catch those.
To get a feeling for which nodes / processes are taking up all the CPU time, try to run rqt_top or just normal top and see what is going on.
Edit: just realised that it could very well be something else (ie: not RViz) that is your performance bottleneck.
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