重新分配cpu

src/autonomy/pl/src/pl.cpp

@@ -206,9 +206,12 @@ void PL_ProcThread()
     int road_pos = 0;
     int des_pos = 3;
     int direction_pos = 20;
+    auto next_time = std::chrono::steady_clock::now();
 
     while (1)
     {
+        next_time += std::chrono::milliseconds(50);
+
         g_NavInfo.Latitude_degree = g_rtk.lat;
         g_NavInfo.Longitude_degree = g_rtk.lon;
         g_NavInfo.Yaw_rad = g_rtk.direction;
@@ -274,6 +277,12 @@ void PL_ProcThread()
         }
 
         // printf("x_cm:%lf y_cm:%lf speed:%d\n", x, y, pl_speed);
+
+        // 避免忙等待，增加延迟让 CPU 能够处理其他任务
+        auto now = std::chrono::steady_clock::now();
+        if (now > next_time)
+            next_time = now;
+        std::this_thread::sleep_until(next_time);
     }
 
     return;

src/common/launch_system/launch/start_all.launch.py

@@ -47,7 +47,7 @@ def generate_launch_description():
                 package="mc",
                 executable="mc_node",
                 output="screen",
-                prefix="taskset -c 1",
+                prefix="taskset -c 2",
             )
         ]
     )
@@ -71,7 +71,7 @@ def generate_launch_description():
                 package="pl",
                 executable="pl_node",
                 output="screen",
-                prefix="taskset -c 2",
+                prefix="taskset -c 3",
             )
         ]
     )
@@ -83,7 +83,7 @@ def generate_launch_description():
                 package="mqtt_report",
                 executable="mqtt_report_node",
                 output="screen",
-                prefix="taskset -c 6",
+                prefix="taskset -c 7",
             )
         ]
     )
@@ -94,7 +94,7 @@ def generate_launch_description():
             ExecuteProcess(
                 cmd=["ros2", "launch", "rslidar_sdk", "start_double.launch.py"],
                 output="screen",
-                prefix="taskset -c 3,4",
+                prefix="taskset -c 4,5",
             )
         ]
     )
@@ -105,7 +105,7 @@ def generate_launch_description():
             ExecuteProcess(
                 cmd=["ros2", "launch", "rslidar_pointcloud_merger", "merge_two_lidars.launch.py"],
                 output="screen",
-                prefix="taskset -c 5",
+                prefix="taskset -c 6",
             )
         ]
     )
@@ -117,7 +117,7 @@ def generate_launch_description():
                 package="rtk",
                 executable="rtk_node",
                 output="screen",
-                prefix="taskset -c 6",
+                prefix="taskset -c 7",
             )
         ]
     )
@@ -129,7 +129,7 @@ def generate_launch_description():
                 package="route",
                 executable="route_node",
                 output="screen",
-                prefix="taskset -c 6",
+                prefix="taskset -c 7",
             )
         ]
     )
@@ -141,7 +141,7 @@ def generate_launch_description():
                 package="sub",
                 executable="sub_node",
                 output="screen",
-                prefix="taskset -c 6",
+                prefix="taskset -c 7",
             )
         ]
     )