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Tools/metrics for evaluating gazebo in action?

asked 2012-10-09 20:58:46 -0600

SL Remy gravatar image

Hello, Are there methods to generate metrics of how "well" gazebo is running/performing? gzstats publishes factor values, and you can also go the gztopic hz path, but is that all that exists?

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What do you have in mind? How would you characterize (and measure) "good" performance?

gerkey gravatar imagegerkey ( 2013-01-11 19:22:23 -0600 )edit

Not sure what to measure, but in the past the Gazebo 0.8 when the simulation ran as fast as possible the frame rate (for the GUI??) gave a rough metric of the computer's ability to model the world.

SL Remy gravatar imageSL Remy ( 2013-01-14 13:38:13 -0600 )edit

If I recall correctly, this frames per second quantity varied with system load, the number of objects, and the complexity of objects in an understandable way. If one needed to benchmark simulation computers, simulation environments, tasks, I'm not sure what an appropriate metric would be currently.

SL Remy gravatar imageSL Remy ( 2013-01-14 13:42:50 -0600 )edit

How is performance measure currently? Is it something like ps?

SL Remy gravatar imageSL Remy ( 2013-01-23 18:41:32 -0600 )edit

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answered 2013-01-23 20:49:58 -0600

nkoenig gravatar image

There are a couple ways to measure performance. Keep in mind that any value you get is dependent on both your computer and the world you're simulating.

1) gztopic hz <topic_name>: will return the average time (over a sliding window) at which a messages are received. Keep in mind that this is not time time at which the message was generated.

2) gztopic view <topic_name>: This is only applicable to Gazebo 1.4+ and only for topics which produce laser or image data. The widget that appears will show the average time at which the data was generated.

3) gzstats: This will show, among other things, the real-time factor. A real-time factor of 1.0 means that Gazebo is running at real-time. A factor <1.0 means that Gazebo is running slower than real-time.

4) Use valgrind. This will give you very detailed look at what Gazebo is doing.

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Asked: 2012-10-09 20:58:46 -0600

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Last updated: Jan 23 '13