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Interesting you're getting 0.8X real-time, for me on my $1.5k desktop, out of box drcsim 1.3.1 with

roslaunch atlas_utils atlas.launch

yields ~0.97X real-time by default, but that's because the time throttling control is not perfect yet. Un-throttling simulation gets me about 1.4X real-time with the robot standing.

The big slow down comes from subscribing to the images or point clouds,

rostopic hz /multisense_sl/points2

yields about 0.8X real-time. This is due to GPU hardware limitations for large data rendering, (this also stresses one of the cores for stereo_image_proc), but we plan to either reduce camera image resolution or reduce update rates.

Tasks: 390 total,   5 running, 382 sleeping,   0 stopped,   3 zombie
Cpu(s): 48.2%us,  7.9%sy,  0.0%ni, 43.5%id,  0.0%wa,  0.0%hi,  0.4%si,  0.0%st
Mem:  16388844k total, 16127708k used,   261136k free,   155036k buffers
Swap: 16727612k total,  5218848k used, 11508764k free,  1180008k cached

  PID USER      PR  NI  VIRT  RES  SHR S %CPU %MEM    TIME+  COMMAND                                                                                                                                                     
 5565 hsu       20   0 3419m 312m  65m R  211  2.0  28:55.79 gazebo -s libgazebo_ros_api_plugin.so atlas.world                                                                                                           
 5653 hsu       20   0 1403m 169m  12m S  135  1.1   4:27.68 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704-90e2ba19
 5566 hsu       20   0 1830m 242m  85m S   31  1.5   3:45.82 gazebo -s libgazebo_ros_api_plugin.so atlas.world                                                                                                           
 7088 hsu       20   0  581m  85m 3776 S   15  0.5   0:02.45 /usr/bin/python /opt/ros/fuerte/bin/rostopic hz /multisense_sl/points2                                                                                      
 5637 hsu       20   0  493m  16m 3684 S    7  0.1   0:57.15 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller __name:=atlas_controller_spawner 
 5563 hsu       20   0  490m  10m 8216 S    5  0.1   0:49.76 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704
 5608 hsu       20   0  530m  27m 6112 S    5  0.2   0:46.94 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704-90e2ba191
 5590 hsu       20   0  382m 6700 5648 S    4  0.0   0:38.88 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnostics __log:=/home/hsu/.ros/log/05e
 5547 hsu       20   0  380m 6688 5628 S    4  0.0   0:35.76 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704-90e2ba191409/rosout-1.log                          

We'll continually watch performance as we progress.

Interesting you're getting 0.8X real-time, for me on my $1.5k desktop, out of box drcsim 1.3.1 with

roslaunch atlas_utils atlas.launch

yields ~0.97X real-time by default, but that's because the time throttling control is not perfect yet. Un-throttling simulation gets me about 1.4X real-time with the robot standing.

The big slow down comes from subscribing to the images or point clouds,

rostopic hz /multisense_sl/points2

yields about 0.8X real-time. This is due to GPU hardware limitations for large data rendering, (this also stresses one of the cores for stereo_image_proc), but we plan to either reduce camera image resolution or reduce update rates.

Tasks: 390 total,   5 running, 382 sleeping,   0 stopped,   3 zombie
Cpu(s): 48.2%us,  7.9%sy,  0.0%ni, 43.5%id,  0.0%wa,  0.0%hi,  0.4%si,  0.0%st
Mem:  16388844k total, 16127708k used,   261136k free,   155036k buffers
Swap: 16727612k total,  5218848k used, 11508764k free,  1180008k cached

  PID USER      PR  NI  VIRT  RES  SHR S %CPU %MEM    TIME+  COMMAND                                                                                                                                                     
 5565 hsu       20   0 3419m 312m  65m R  211  2.0  28:55.79 gazebo -s libgazebo_ros_api_plugin.so atlas.world                                                                                                           
 5653 hsu       20   0 1403m 169m  12m S  135  1.1   4:27.68 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704-90e2ba19
 5566 hsu       20   0 1830m 242m  85m S   31  1.5   3:45.82 gazebo -s libgazebo_ros_api_plugin.so atlas.world                                                                                                           
 7088 hsu       20   0  581m  85m 3776 S   15  0.5   0:02.45 /usr/bin/python /opt/ros/fuerte/bin/rostopic hz /multisense_sl/points2                                                                                      
 5637 hsu       20   0  493m  16m 3684 S    7  0.1   0:57.15 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller __name:=atlas_controller_spawner 
 5563 hsu       20   0  490m  10m 8216 S    5  0.1   0:49.76 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704
 5608 hsu       20   0  530m  27m 6112 S    5  0.2   0:46.94 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704-90e2ba191
 5590 hsu       20   0  382m 6700 5648 S    4  0.0   0:38.88 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnostics __log:=/home/hsu/.ros/log/05e
 5547 hsu       20   0  380m 6688 5628 S    4  0.0   0:35.76 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/hsu/.ros/log/05e97bcc-5ab7-11e2-9704-90e2ba191409/rosout-1.log                          

We'll continually watch performance as we progress.

$ cat /proc/cpuinfo 
processor   : 0
vendor_id   : GenuineIntel
cpu family  : 6
model       : 58
model name  : Intel(R) Core(TM) i7-3770K CPU @ 3.50GHz
stepping    : 9
microcode   : 0x12
cpu MHz     : 3501.000
cache size  : 8192 KB
physical id : 0
siblings    : 8
core id     : 0
cpu cores   : 4
apicid      : 0
initial apicid  : 0
fpu     : yes
fpu_exception   : yes
cpuid level : 13
wp      : yes
flags       : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm pcid sse4_1 sse4_2 popcnt tsc_deadline_timer aes xsave avx f16c rdrand lahf_lm ida arat epb xsaveopt pln pts dtherm tpr_shadow vnmi flexpriority ept vpid fsgsbase smep erms
bogomips    : 7020.37
clflush size    : 64
cache_alignment : 64
address sizes   : 36 bits physical, 48 bits virtual
power management:
01:00.0 VGA compatible controller: NVIDIA Corporation GF116 [GeForce GTX 550 Ti] (rev a1) (prog-if 00 [VGA controller])
    Subsystem: eVga.com. Corp. Device 1559
    Flags: bus master, fast devsel, latency 0, IRQ 16
    Memory at f4000000 (32-bit, non-prefetchable) [size=32M]
    Memory at e0000000 (64-bit, prefetchable) [size=128M]
    Memory at e8000000 (64-bit, prefetchable) [size=64M]
    I/O ports at e000 [size=128]
    [virtual] Expansion ROM at f6000000 [disabled] [size=512K]
    Capabilities: <access denied="">
    Kernel driver in use: nvidia
    Kernel modules: nvidia_current, nouveau, nvidiafb
ii  nvidia-current                           295.40-0ubuntu1.1                         NVIDIA binary Xorg driver, kernel module and VDPAU library