Parallel Physics - Real Time factor

asked 2017-11-07 05:53:40 -0600

mhallak gravatar image

We are working according: Tutorial on thread-island and with the repositories suggested by Ying Lu as answered to: this question

Our goal is to reach real time factor of 1 in our simulation.

We have the following computer:

HP EliteDesk 800 G3 TWR (Y1B39AV)
16GiB System Memory                                                                                   Intel(R) Core(TM) i7-7700K CPU @ 4.20GHz (x8)

And the following graphical card: GeForce GTX 1080

We are originally interested with running our simulation with two island_threads.

We checked the following 3 configurations:

  1. gazebo --verbose -o unthrottled0 gazebo/worlds/dual_pr2.world
  2. gazebo --verbose -o unthrottled1 gazebo/worlds/dual_pr2.world
  3. gazebo --verbose -o unthrottled2 gazebo/worlds/dual_pr2.world

To our surprise:

  1. unthrottled 0 ==> Real Time factor is around 0.95
  2. unthrottled 1 ==> Real Time factor is around 0.41 !!!!!!
  3. unthrottled 2 ==> Real Time factor is around 0.62 !!!!!!

To be honest, with a much less good computer we got good results regarding real time factor (from 0.60 without to 0.75 with 2 islands) so we had a lot of expectations toward the strong station.

I am attaching a screen capture of gazebo with a filtered htop.
unthrottled0.jpeg
unthrottled2.jpeg

Obviously, we are doing something wrong.... Do you have an idea?

Thanks a lot

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