High CPU usage when launching Autoware with rmw_zenoh, especially when running two cars

[habby1012]

I'm experiencing unexpectedly high CPU usage when launching Autoware with rmw_zenoh.

• Single vehicle: CPU usage spikes to 100% for ~5 seconds when Rviz appears, then returns to normal.
• Two vehicles: After Rviz launches, CPU remains at 100% for several minutes, causing the system to become very laggy.

For reference, I have attached both a Samply CPU profile and a pcap file, recorded during the launch of the second vehicle, where the issue is most severe.
The Samply profile specifically captures the rmw_zenoh process. Both recordings cover the period from the start of launching Autoware until a few seconds after Rviz appears (approximately 1 minute in total):

First log

• Samply profile: Samply
• Pcap file: pcap

Second log (with rmw_zenoh log)

• Samply profile - rmw_zenohd: Samply
• Pcap file: pcap
• rmw_zenoh log: rmw_zenohd.log

Third log

• Samply profile - autoware: Samply
• Pcap file: pcap
• rmw_zenoh log: rmw_zenohd.log

Autoware log when failed
autoware.log

[evshary]

Might be related to the issue
ros2/rmw_zenoh#763