Insanly huge agent cpu spike

[kalaajiahmad]

Describe the bug
Hi,
I am encountering huge CPU usage of the Micro ros agent running from docker as follows:
docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:foxy udp4 -p 8888

To Reproduce
Steps to reproduce the behaviour:

1. Clone repo 'micro_ros_arduino' Foxy Branch
2. Flash 8 ESPs with it (Client Key unique for each Esp)
3. Run Publisher example for 3 hours
4. CPU spike happens after around 3h
5. See CPU spike on htop

Expected behaviour
A normal usage of ~100% CPU usage max at all times.

System information (please complete the following information):

• OS: Ubuntu 20.04
• ROS 2 Foxy
• Hardware: 8x ESP32 micro-controllers running agent and client version 2.3.0

what can be the possible reason behind such a huge CPU usage?
Observation from my tests: it happens exponentially were it starts to increase to 200 then 500 then 1000%
And after the agent reaches past 200%, the Esp32 loses connection with the agent and fails to publish any messages.
Any help is much appreciated!