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4x Intel(R) Xeon(R) CPU 5160 @ 3.00GHz
4G memory
Nvidea GFORCE 9800 GT

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.55

ps augx says

cga      24022  0.3  0.4 292896 18756 pts/9    Sl+  15:45   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      24038  0.3  0.3 498756 12948 ?        Ssl  15:45   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/90863ae6-5a9d-11e2-b3e8-00188b0ade60
cga      24051  2.6  0.1 317612  6824 ?        Ssl  15:45   0:11 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/90863ae6-5a9d-11e2-b3e8-00188b0ade60/rosout
cga      24054  0.0  0.0   4404   620 ?        Ss   15:45   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/90863a
cga      24055  0.0  0.7 360836 30264 ?        Sl   15:45   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      24056  4.3  0.2 503988 10472 ?        Ssl  15:45   0:19 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/
cga      24057  3.1  0.1 393552  6836 ?        Ssl  15:45   0:13 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnosti
cga      24058  0.1  0.4 358364 16380 ?        Ssl  15:45   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __l
cga      24086  4.3  0.7 545808 31072 ?        Ssl  15:45   0:19 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/9
cga      24087  4.2  0.4 507916 16656 ?        Ssl  15:45   0:18 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller _
cga      24116  3.2  0.4 1053416 16952 ?       Ssl  15:45   0:14 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/
cga      24156  174  6.1 3124276 249132 ?      Rl   15:46  12:44 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      24157 21.7  5.1 1504336 210060 ?      Sl   15:46   1:35 gazebo -s libgazebo_ros_api_plugin.so atlas.world

In a ROS-free version of DRCSIM (all plugins removed except one Gazebo controller plugin using full state feedback (hint hint), model re-implemented in SDF 1.3)

Real Time Factor hovers around 0.95

ps augx says:

cga      25929  0.0  0.7 360836 30324 pts/1    Sl+  15:56   0:00 gazebo world
cga      25931 99.5  2.0 1036884 83340 pts/1   Sl+  15:56   2:25 gazebo world
cga      25932 24.2  4.6 1479344 189288 pts/1  Sl+  15:56   0:35 gazebo world

4x Intel(R) Xeon(R) CPU 5160 @ 3.00GHz
4G memory
Nvidea GFORCE 9800 GT

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.55

ps augx says

cga      24022  0.3  0.4 292896 18756 pts/9    Sl+  15:45   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      24038  0.3  0.3 498756 12948 ?        Ssl  15:45   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/90863ae6-5a9d-11e2-b3e8-00188b0ade60
cga      24051  2.6  0.1 317612  6824 ?        Ssl  15:45   0:11 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/90863ae6-5a9d-11e2-b3e8-00188b0ade60/rosout
cga      24054  0.0  0.0   4404   620 ?        Ss   15:45   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/90863a
cga      24055  0.0  0.7 360836 30264 ?        Sl   15:45   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      24056  4.3  0.2 503988 10472 ?        Ssl  15:45   0:19 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/
cga      24057  3.1  0.1 393552  6836 ?        Ssl  15:45   0:13 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnosti
cga      24058  0.1  0.4 358364 16380 ?        Ssl  15:45   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __l
cga      24086  4.3  0.7 545808 31072 ?        Ssl  15:45   0:19 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/9
cga      24087  4.2  0.4 507916 16656 ?        Ssl  15:45   0:18 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller _
cga      24116  3.2  0.4 1053416 16952 ?       Ssl  15:45   0:14 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/
cga      24156  174  6.1 3124276 249132 ?      Rl   15:46  12:44 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      24157 21.7  5.1 1504336 210060 ?      Sl   15:46   1:35 gazebo -s libgazebo_ros_api_plugin.so atlas.world

In a ROS-free version of DRCSIM (all plugins removed except one Gazebo controller plugin using full state feedback (hint hint), model re-implemented in SDF 1.3)

Real Time Factor hovers around 0.95

ps augx says:

cga      25929  0.0  0.7 360836 30324 pts/1    Sl+  15:56   0:00 gazebo world
cga      25931 99.5  2.0 1036884 83340 pts/1   Sl+  15:56   2:25 gazebo world
cga      25932 24.2  4.6 1479344 189288 pts/1  Sl+  15:56   0:35 gazebo world

4x Intel(R) Xeon(R) CPU 5160 @ 3.00GHz
4G memory
Nvidea GFORCE 9800 GT

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.55

ps augx says

cga      24022  0.3  0.4 292896 18756 pts/9    Sl+  15:45   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      24038  0.3  0.3 498756 12948 ?        Ssl  15:45   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/90863ae6-5a9d-11e2-b3e8-00188b0ade60
cga      24051  2.6  0.1 317612  6824 ?        Ssl  15:45   0:11 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/90863ae6-5a9d-11e2-b3e8-00188b0ade60/rosout
cga      24054  0.0  0.0   4404   620 ?        Ss   15:45   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/90863a
cga      24055  0.0  0.7 360836 30264 ?        Sl   15:45   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      24056  4.3  0.2 503988 10472 ?        Ssl  15:45   0:19 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/
cga      24057  3.1  0.1 393552  6836 ?        Ssl  15:45   0:13 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnosti
cga      24058  0.1  0.4 358364 16380 ?        Ssl  15:45   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __l
cga      24086  4.3  0.7 545808 31072 ?        Ssl  15:45   0:19 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/9
cga      24087  4.2  0.4 507916 16656 ?        Ssl  15:45   0:18 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller _
cga      24116  3.2  0.4 1053416 16952 ?       Ssl  15:45   0:14 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/
cga      24156  174  6.1 3124276 249132 ?      Rl   15:46  12:44 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      24157 21.7  5.1 1504336 210060 ?      Sl   15:46   1:35 gazebo -s libgazebo_ros_api_plugin.so atlas.world

In a ROS-free version of DRCSIM (all plugins removed except one Gazebo controller plugin using full state feedback (hint hint), model re-implemented in SDF 1.3)

Real Time Factor hovers around 0.95

ps augx says:

cga      25929  0.0  0.7 360836 30324 pts/1    Sl+  15:56   0:00 gazebo world
cga      25931 99.5  2.0 1036884 83340 pts/1   Sl+  15:56   2:25 gazebo world
cga      25932 24.2  4.6 1479344 189288 pts/1  Sl+  15:56   0:35 gazebo world

This was a substantial machine in its time. It got us through the Little Dog project, and we were proud of it. It can barely keep up with the ROS-free version.