CPU issue

[mclyncis]

move base cpu double while enabling the plugin. filling or not the polygons do not change any things. how can i limit cpu usage whyle area are not changing

[tugbakara]

Did you solve that problem? I have same issue.

[LKSeng]

I have encountered this issue some time ago and had some thoughts on how to address it. In my implementation, there is caching which should help reduce CPU usage.

There are two forks, depending on whether you want to use the original plugin name (remember to delete this current repo first) or a separate plugin name (costmap_prohibition_layer_v2::CostmapProhibitionLayer).

[tugbakara]

Hi @LKSeng , thanks for your fork, note that initially I tried first one but prohibition layer didn't come in RVIZ that's why I tried second one and it works! Thanks a lot! CPU usage decreases significantly :) Have a nice day !