pushing_tb_ws

The "turtlebot3_ws" in container

The main problems are:

🚨 CRITICAL FINDINGS:

1. Thread Proliferation Crisis: Each robot has 32-33 threads instead of expected 7 (4-5x excess)
2. Executor Saturation: All robots running at 99-101% CPU due to thread thrashing
3. Callback Starvation: No subscribers detected for critical topics (even though topics have data)
4. Thread Contention: High CPU + excessive threads = thrashing/blocking

solution: shared callback group

problem: PickUp second time launch, shows: [PickingUp] MPC control step 2/3: v=-0.010, ω=0.001, dist_to_target=0.048m, dist_to_traj=0.048m, traj_idx=483/484