{"action":"created","issue":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/304","repository_url":"https://api.github.com/repos/strands-project/strands_navigation","labels_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/304/labels{/name}","comments_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/304/comments","events_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/304/events","html_url":"https://github.com/strands-project/strands_navigation/issues/304","id":149388122,"number":304,"title":"monitored_navigation.py CPU load","user":{"login":"hawesie","id":927289,"avatar_url":"https://avatars.githubusercontent.com/u/927289?v=3","gravatar_id":"","url":"https://api.github.com/users/hawesie","html_url":"https://github.com/hawesie","followers_url":"https://api.github.com/users/hawesie/followers","following_url":"https://api.github.com/users/hawesie/following{/other_user}","gists_url":"https://api.github.com/users/hawesie/gists{/gist_id}","starred_url":"https://api.github.com/users/hawesie/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hawesie/subscriptions","organizations_url":"https://api.github.com/users/hawesie/orgs","repos_url":"https://api.github.com/users/hawesie/repos","events_url":"https://api.github.com/users/hawesie/events{/privacy}","received_events_url":"https://api.github.com/users/hawesie/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"bfalacerda","id":4320588,"avatar_url":"https://avatars.githubusercontent.com/u/4320588?v=3","gravatar_id":"","url":"https://api.github.com/users/bfalacerda","html_url":"https://github.com/bfalacerda","followers_url":"https://api.github.com/users/bfalacerda/followers","following_url":"https://api.github.com/users/bfalacerda/following{/other_user}","gists_url":"https://api.github.com/users/bfalacerda/gists{/gist_id}","starred_url":"https://api.github.com/users/bfalacerda/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bfalacerda/subscriptions","organizations_url":"https://api.github.com/users/bfalacerda/orgs","repos_url":"https://api.github.com/users/bfalacerda/repos","events_url":"https://api.github.com/users/bfalacerda/events{/privacy}","received_events_url":"https://api.github.com/users/bfalacerda/received_events","type":"User","site_admin":false},"milestone":null,"comments":7,"created_at":"2016-04-19T08:37:21Z","updated_at":"2016-04-19T18:26:54Z","closed_at":null,"body":"When the robot is navigating I see a number of high CPU load entries in htop related to monitored navigation (see attached image). Is there anything going on in mon nav that is that CPU intensive or can a few tweaks to sleeps, rates etc. reduce the load? This could have a major effect on battery levels and robot performance long-term.\r\n\r\n![screenshot from 2016-04-19 09 27 27](https://cloud.githubusercontent.com/assets/927289/14632716/18f0f6aa-0612-11e6-9b5a-f5e1a00273f4.png)\r\n"},"comment":{"url":"https://api.github.com/repos/strands-project/strands_navigation/issues/comments/212056744","html_url":"https://github.com/strands-project/strands_navigation/issues/304#issuecomment-212056744","issue_url":"https://api.github.com/repos/strands-project/strands_navigation/issues/304","id":212056744,"user":{"login":"bfalacerda","id":4320588,"avatar_url":"https://avatars.githubusercontent.com/u/4320588?v=3","gravatar_id":"","url":"https://api.github.com/users/bfalacerda","html_url":"https://github.com/bfalacerda","followers_url":"https://api.github.com/users/bfalacerda/followers","following_url":"https://api.github.com/users/bfalacerda/following{/other_user}","gists_url":"https://api.github.com/users/bfalacerda/gists{/gist_id}","starred_url":"https://api.github.com/users/bfalacerda/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bfalacerda/subscriptions","organizations_url":"https://api.github.com/users/bfalacerda/orgs","repos_url":"https://api.github.com/users/bfalacerda/repos","events_url":"https://api.github.com/users/bfalacerda/events{/privacy}","received_events_url":"https://api.github.com/users/bfalacerda/received_events","type":"User","site_admin":false},"created_at":"2016-04-19T18:26:54Z","updated_at":"2016-04-19T18:26:54Z","body":"jsut did a couple of tests and bob looks alright, normal loads"}}