From 58c01e0fc974db207e2d6034dd5559bb46b60124 Mon Sep 17 00:00:00 2001
From: andrewbest-tri <43861892+andrewbest-tri@users.noreply.github.com>
Date: Thu, 4 Aug 2022 07:34:16 -0700
Subject: [PATCH] Limit bridge threads (#3)

---
 carla_ros_bridge/src/carla_ros_bridge/bridge.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index 5e2e2b21f..02560983f 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -10,7 +10,7 @@
 
 Class that handle communication between CARLA and ROS
 """
-
+import multiprocessing
 import os
 import pkg_resources
 try:
@@ -38,6 +38,10 @@
 from rosgraph_msgs.msg import Clock
 
 
+# Cyclone DDS on large core counts will not play nicely. Limit process to 16 cores.
+WORKER_THREADS = 0 if multiprocessing.cpu_count() < 16 else 16
+
+
 class CarlaRosBridge(CompatibleNode):
 
     """
@@ -418,7 +422,9 @@ def main(args=None):
     try:
         carla_client = carla.Client(
             host=parameters['host'],
-            port=parameters['port'])
+            port=parameters['port'],
+            worker_threads=WORKER_THREADS
+        )
         carla_client.set_timeout(parameters['timeout'])
 
         # check carla version