Fix CPU usage 100%

[yikben-wong-dx]

Description

• use omp_set_num_threads to limit number of threads allowed to be used

Motivation and Context

• Cloth simulation used 100% of CPU Power

How Has This Been Tested?

This test uses the E2E setup in caisson_ros_pkg. Please make sure you update the caisson_ros_pkg repo and Talos repo.

1. Before the changes

# Command in server
docker-compose -f ~/caisson_ws/repos/caisson_ros_pkg/docker/system/tsukuba.yml pull
docker-compose -f ~/caisson_ws/repos/caisson_ros_pkg/docker/system/tsukuba.yml up -d
. ~/caisson_ws/repos/caisson_ros_pkg/docker/system/scripts/tsukuba_simulation.bash

# Press Enter for all the window in tmux

# Command in 6082 Simulator VNC
ros2 launch oliver_ros_interface techfarm_caisson_launch.py rviz:=False

# Another Terminal in server
htop

The htop should show all CPU at close to 100%.
Please Ctrl + C all the windows in tmux only.

2. Apply the changes

# Terminal in server
docker exec -it system /bin/bash
cd /home/docker/base
rm -rf CSF
git clone -b fix/all-cpu-100% git@github.com:DeepX-inc/CSF.git
mkdir -p CSF/build && cd CSF/build \
  && cmake -DBUILD_SHARED_LIBS=ON .. && make -j$(nproc) && make install -j$(nproc) && make clean

# Close terminal

3. After the changes

• Please go to the tmux terminal and use the all 4 previous commands in windows to start the system.
• The htop should show normal CPU usage.
• Use GeoViz and Simulation to check whether the height map is working.

Checklist

• Have you filled the sections above?
• Have you checked to ensure there aren't other open Pull Requests for the same GitHub Issues/ClickUp Task(s)?
• Have you documented the changes in GitHub Issues and/or ClickUp Task(s) related to this Pull Request?
• Have you added labels, where appropriate, to this Pull Request?

[yikben-wong-dx]

The number of thread (6) does not contain any meaning. Please feel free to change it.

[matias-pavez-dx]

I think it is okay as long as the heightmap or acceptance test results are not affected.

I guess this is for the perception team to decide.

[Apurrvv]

Yes, 6 is okay. I don't see a way to make this an argument but we one perception side will make a note of the value.

We need to make a change here also - https://github.com/DeepX-inc/caisson_ros_pkg/blob/43b38b90c8577788d07c38c77ef974a4980a6d35/docker/system/base.Dockerfile#L72

I will create a PR.

[Apurrvv]

LGTM, We will make a note. NUM_THREAD is set to 6 in CSF.

[matias-pavez-dx]

@Apurrvv

Yes, 6 is okay. I don't see a way to make this an argument but we one perception side will make a note of the value.

These are some ways to set the argument from outside:

• Modify the library to allow such configuration (e.g. through function setter, constructor, ...).
• Use compile options..

Anyways, this does not seem like an urgent concern.

[Apurrvv]

@Apurrvv

Yes, 6 is okay. I don't see a way to make this an argument but we one perception side will make a note of the value.

These are some ways to set the argument from outside:

• Modify the library to allow such configuration (e.g. through function setter, constructor, ...).
• Use compile options..

Anyways, this does not seem like an urgent concern.

I see, Got it. I will create an issue for now and create a PR in the future.
I don't see an option for creating an issue is it disabled by any chance?