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Rosbag2 consume 100% of the CPU resources on one core in snapshot mode. #940

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MichaelOrlov opened this issue Dec 14, 2021 · 0 comments · Fixed by #941
Closed

Rosbag2 consume 100% of the CPU resources on one core in snapshot mode. #940

MichaelOrlov opened this issue Dec 14, 2021 · 0 comments · Fixed by #941
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Description

Rosbag2 consume 100% of the CPU resources on one core in snapshot mode.

Expected Behavior

Rosbag2 should consume moderate CPU resources, but certainly not 100% in snapshot mode.

Actual Behavior

Rosbag2 consume 100% of the CPU resources on one core in snapshot mode.

To Reproduce

  1. ros2 bag record --max-cache-size 100000 --snapshot-mode -a
  2. View CPU load via system monitor or htop

System (please complete the following information)

  • OS: Ubuntu 20.04
  • ROS 2 Distro: Rolling
  • Version: master 200c4c3

Additional context

This issue was discovered during post merge code review of the #850
RCA: There are problem in design of the "snapshot" feature. There "busy loop" in CacheConsumer class when enabled "Snapshot" mode.
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Redesign in cache consumer and circular message cache to get rid from busy loop ros2/rosbag2
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@MichaelOrlov