Orin - Realsense D457 GMSL camera high CPU usage

Hello,

We seem to be running into an issue when running the ros2 realsense node for our D457 cameras connected over GMSL to our Orins. Each camera seems to take up at about 1 core of CPU which was unexpected for us. Our cameras are on firmware 5.15.1, our realsense-ros is version 4.54.1, and librealsense is version 2.54.2. The compute platform is a connecttech Anvil: https://www.wdlsystems.com/connect-tech-esg621-0qr.

Here is our top output

user@devkit2-hat:~/apollo$ top

top - 18:41:36 up 21:00,  6 users,  load average: 12.83, 7.09, 3.80
Tasks: 392 total,   7 running, 385 sleeping,   0 stopped,   0 zombie
%Cpu(s):  3.5 us, 49.2 sy,  0.0 ni, 47.2 id,  0.0 wa,  0.0 hi,  0.0 si,  0.0 st
MiB Mem :  62796.3 total,  34166.9 free,   2724.0 used,  25905.4 buff/cache
MiB Swap:  31398.1 total,  31398.1 free,      0.0 used.  58769.9 avail Mem 

    PID USER      PR  NI    VIRT    RES    SHR S  %CPU  %MEM     TIME+ COMMAND                                                                                       
 265876 root      20   0       0      0      0 R 100.0   0.0   1:36.89 vi-output, DS5                                                                                
 266060 root      20   0       0      0      0 R 100.0   0.0   1:38.59 vi-output, DS5                                                                                
 266116 root      20   0       0      0      0 R 100.0   0.0   1:31.09 vi-output, DS5                                                                                
 266124 root      20   0       0      0      0 R 100.0   0.0   1:27.12 vi-output, DS5                                                                                
 266131 root      20   0       0      0      0 R 100.0   0.0   1:27.87 vi-output, DS5                                                                                
 265745 root      20   0       0      0      0 R  93.8   0.0   1:42.51 vi-output, DS5                                                                                
 265618 user     20   0  980316  69892  40580 S  18.8   0.1   0:11.98 realsense2_came                                                                               
 265614 user     20   0  980316  67436  40728 S   6.2   0.1   0:13.56 realsense2_came                                                                               
 265616 user     20   0  980316  68664  40168 S   6.2   0.1   0:12.91 realsense2_came                                                                               
 265620 user     20   0  980316  69436  40680 S   6.2   0.1   0:11.55 realsense2_came                                                                               
 266638 user     20   0   11836   3372   2648 R   6.2   0.0   0:00.01 top       

Please let me know what other information you need on my end and thanks so much for the help in advance.

Best,
Ryan

Hi @ryank1

This is more about the Realsense than Isaac ROS. I noticed your issue is also open on their repository: [D457] Significant CPU usage when streaming D457 · Issue #2908 · IntelRealSense/realsense-ros · GitHub.

I am closing this topic for now, but please feel free to start a new one if you have any further queries or concerns.

Raffaello