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CPU的问题,可以通过调整VisualizationManager的自动渲染周期解决。默认自动渲染周期为30Hz，可调成合适的10或者5Hz，可以降低一半CPU占用。 但是内存泄漏一直存在。 并且发现，使用rviz2的原生界面，订阅八叉树进行渲染，也会有内存泄漏