trying to make command_astrobee not as heavy

astrobee/survey/survey_manager/data/granite_survey_static.yaml

@@ -71,8 +71,8 @@ bays_move:
   berth2_g: ["-pos", "0.1 -0.3 -0.68", "-att", "3.14 1 0 0"]
 
 maps:
-  gra: "/data/maps/granite.map"
-  gro: "/data/maps/iss.map"
+  gra: "/res/maps/granite.map"
+  gro: "/res/maps/iss.map"
 
 exposure:
   gra: 175

astrobee/survey/survey_manager/data/iss_survey_static.yaml

@@ -95,8 +95,8 @@ bays_pano:
 
 maps:
   jem: "/data/maps/20240320_lam.map"
-  nod2: "/data/maps/20240205_usl_abad.map"
-  usl: "/data/maps/20240205_usl_abad.map"
+  nod2: "/data/maps/20240531_isaac15_best_teblid.map"
+  usl: "/data/maps/20240531_ISAAC15_USL-ONLY_teblid.map"
 
 exposure:
   jem: 175

astrobee/survey/survey_manager/src/survey_manager/command_astrobee.py

@@ -174,6 +174,7 @@ def write_output_once(self, output):
 
                     self.sock_output_connected = True
             except socket.timeout:
+                time.sleep(0.1)  # Add a small sleep interval at the start of the loop
                 continue
 
             try:
@@ -193,6 +194,7 @@ def thread_write_output(self, process):
         output_total = ""
         try:
             while not self._stop_event.is_set() and process.poll() is None:
+                time.sleep(0.1)  # Add a small sleep interval at the start of the loop
                 # Get output from process
                 # loginfo("waiting for output")
                 output = process.stdout.readline()
@@ -224,6 +226,7 @@ def thread_write_output(self, process):
                             output.encode("ascii", errors="replace")[:CHUNK_SIZE]
                         )
                 except socket.timeout:
+                    time.sleep(0.1)  # Add a small sleep interval
                     continue
                 except (socket.error, BrokenPipeError):
                     loginfo("writer can't send data. Receiver may have disconnected.")
@@ -238,15 +241,16 @@ def thread_write_output(self, process):
 
     def read_input_once(self) -> str:
         while not (self.sock_input_connected or self._stop_event.is_set()):
-            # loginfo("waiting for connection")
             try:
                 self.sock_input_conn, addr = self.sock_input.accept()
                 self.sock_input_conn.settimeout(1)
                 self.sock_input_connected = True
                 break
             except socket.timeout:
+                time.sleep(0.1)  # Add a small sleep interval
                 continue
         while not self._stop_event.is_set():
+            time.sleep(0.1)  # Add a small sleep interval at the start of the loop
             try:
                 request = self.sock_input_conn.recv(CHUNK_SIZE).decode(
                     "ascii", errors="replace"
@@ -258,6 +262,7 @@ def read_input_once(self) -> str:
                     break
                 loginfo("request")
             except socket.timeout:
+                time.sleep(0.1)  # Add a small sleep interval
                 continue
             except ConnectionResetError:
                 # Connection was reset, set sock_input_connected to False
@@ -271,22 +276,29 @@ def thread_read_input(self, process):
         try:
             while not self._stop_event.is_set():
                 while not (self.sock_input_connected or self._stop_event.is_set()):
-                    # loginfo("waiting for connection")
+                    time.sleep(
+                        0.1
+                    )  # Add a small sleep interval at the start of the loop
                     try:
                         self.sock_input_conn, addr = self.sock_input.accept()
                         self.sock_input_conn.settimeout(1)
                         self.sock_input_connected = True
                         break
                     except socket.timeout:
+                        time.sleep(0.1)  # Add a small sleep interval
                         continue
 
                 while not self._stop_event.is_set():
+                    time.sleep(
+                        0.1
+                    )  # Add a small sleep interval at the start of the loop
                     try:
                         request = self.sock_input_conn.recv(CHUNK_SIZE).decode(
                             "ascii", errors="replace"
                         )
                         break
                     except socket.timeout:
+                        time.sleep(0.1)  # Add a small sleep interval
                         continue
                     except ConnectionResetError:
                         # Connection was reset, set sock_input_connected to False