Gazebo runs more slowly on a better computer [closed]

asked 2020-01-16 07:27:01 -0600

smihael gravatar image

updated 2020-01-23 09:50:43 -0600

Jose Luis Rivero gravatar image

I have two similar setups. Both computers are fairly decent, but Gazebo runs much slower on one of them even though it is in theory slightly better.

System 1:

  • Ubuntu 16.04 with kernel 4.4.0-141-generic
  • Intel(R) Core(TM) i7-6700K CPU @ 4.00GHz, cpufreq governor set to performance
  • 32GiB DDR4 RAM @ 2133 MHz
  • GeForce GTX 1080 (nvidia driver v430.64)
  • Crucial CT525MX3

System 2:

  • Ubuntu 16.04 with kernel 4.4.0-141-generic
  • Intel(R) Core(TM) i7-7700 CPU @ 3.60GHz, cpufreq governor set to performance
  • 16GiB DDR4 RAM @ 3007 MHz
  • GeForce GTX 1050 Ti (nvidia driver v396.45)
  • SanDisk SDSSDA48

Even though system 1 should in theory be better, Gazebo simulation is much slower. Running empty.world with setting max_update_rate to 10000.0 using /gazebo/set_physics_properties, would result into real time factor ~4 at system 1 and ~10 at system 2.

I first thought it could be that the older generation of i7 is slower even at higher frequency, but all the benchmarks say it is faster (https://cpu.userbenchmark.com/Compare...).The same goes for gpu (https://gpu.userbenchmark.com/Compare...) and disks (https://ssd.userbenchmark.com/Compare...). Could it be RAM frequency?

What else could be a bottleneck? Which configuration I could look into?

EDIT:I benchmarked both computers using Phoronix Test Suite cpu tests and in contrary to the previous benchmark, the i7-6700K did perform worse (https://openbenchmarking.org/result/2...). So this does not seem to be gazebo related problem. For future reference, what benchmarks are most relevant for gazebo?

edit retag flag offensive reopen merge delete

Closed for the following reason question is off-topic or not relevant by smihael
close date 2020-01-24 02:26:24.261135

Comments

Thanks for sharing your findings with respect to the performance between two machines. Could you please mark the question as solved?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2020-01-23 09:51:37 -0600 )edit

I closed it and will reformulate related questions in a new question.

smihael gravatar imagesmihael ( 2020-01-24 02:27:08 -0600 )edit