Skip to content

fix(control): limit native math threads #140

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
dvorak0 merged 3 commits into from
May 15, 2026
Merged

fix(control): limit native math threads #140

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
a1440bd
fix(control): limit native math threads
xiaolefang-dm May 12, 2026
ec3669b
Limit OpenBLAS threads globally
dvorak0 May 15, 2026
259b40e
Document OpenBLAS thread limit
dvorak0 May 15, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,9 @@

# env
ENV RMW_FASTRTPS_PUBLICATION_MODE=ASYNCHRONOUS
# Limit OpenBLAS worker threads globally to avoid high CPU on small NumPy/SciPy
# workloads on Jetson. See OpenBLAS fix context: https://github.com/OpenMathLib/OpenBLAS/pull/4388
ENV OPENBLAS_NUM_THREADS=1
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
ENV CYCLONEDDS_URI=/tinynav/scripts/cyclone_dds_localhost.xml
ENV PATH=$PATH:/usr/src/tensorrt/bin/
Expand Down Expand Up @@ -142,7 +145,7 @@
&& mkdir build && cd build \
&& cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_PYTHON=ON -DGTSAM_THROW_CHEIRALITY_EXCEPTION=OFF .. \
&& make -j2
ENV PYTHONPATH="/3rdparty/gtsam/build/python:${PYTHONPATH}"

Check warning on line 148 in Dockerfile

View workflow job for this annotation

GitHub Actions / smoke-amd64

Variables should be defined before their use 

UndefinedVar: Usage of undefined variable '$PYTHONPATH'
More info: https://docs.docker.com/go/dockerfile/rule/undefined-var/

# plotjuggler ROS2 String JSON parser patch
RUN apt-get update && apt-get install -y --no-install-recommends \
Expand Down
Loading