High CPU usage when no data input

[cyhasuka]

Hello,
Thank you for sharing such a wonderful job. I have a question now, it seems that the program also consumes a large amount of CPU resources without data input (with one CPU core consistently occupying 100%). Why is this? Is there a way to reduce CPU usage? (CPU: I7-7800k, no data input occupation: 12%, input point cloud scale 45312 pts: 14%)
Thank you and look forward to your answer!

[cyhasuka]

Hello, I would like to report the new test progress to you. In this issue, I found that the high CPU resource usage is because in demo.cpp, main function lines 69 to 72, the frequent calls to the "ros::spinOnce();", resulting in the thread lock has been in a cycle of locking and unlocking.Replacing lines 69 to 72 with "ros::spin();" resolves the issue.

[seungjae24]

Hi @cyhasuka,

Thank you for finding a great improvement~ I merged your pull request just now. Thank you!