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Performance feedback

I thought it might be useful to give the developers some more global performance feedback about how the DRCSIM simulation is running on our hardware. I urge all you DRC folks out that to comment on this post with your own performance data.

On a Dell Precision T7600
Dual Eight Core XEON (E5-2687W, 3.1GHz, 20M, 8.0 GT/s, Turbo+)
128GB, DDR3 RDIMM Memory,1600MHz, ECC (8 x 16GB DIMMs)
6.0GB NVIDIA Quadro 6000, Dual MON, 2 DP & 1 DVI (glxinfo indicates the Quadro board is what is used for graphics).

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.8

ps augx says:

cga      11245  0.2  0.0 290808 18632 pts/5    Sl+  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      11261  0.2  0.0 570368 12960 ?        Ssl  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/master.log
cga      11274  4.8  0.0 315416  6588 ?        Ssl  14:42   0:19 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/rosout-1.log
cga      11288  0.0  0.0   4404   620 ?        Ss   14:42   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/gazebo-2.log
cga      11289  0.0  0.0 365848 30524 ?        Sl   14:42   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11290  7.7  0.0 501876 10332 ?        Ssl  14:42   0:31 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/robot_state_publ
cga      11292  198  0.2 5054196 271044 ?      Rl   14:42  13:37 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11293 20.2  0.1 3528144 233880 ?      Sl   14:42   1:23 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11306  5.0  0.0 391440  6700 ?        Ssl  14:42   0:20 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnostics __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69f
cga      11334  0.1  0.0 362572 16388 ?        Ssl  14:42   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/fa
cga      11335  8.1  0.0 543696 26480 ?        Ssl  14:42   0:33 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/tf2_buffer_server-6.log
cga      11362  6.8  0.0 505796 16456 ?        Ssl  14:42   0:28 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller __name:=atlas_controller_spawner __log:=/home/cga/.ros/log/bd0c
cga      11365  5.1  0.0 2957208 12364 ?       Ssl  14:42   0:21 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/multisense_sl-stereo_proc

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 flips between 1.0 and 0.99

cga      12297  0.0  0.0 365848 30524 pts/6    Sl+  14:52   0:00 gazebo world
cga      12299 95.2  0.0 3107288 93976 pts/6   Sl+  14:52   2:56 gazebo world
cga      12300 22.8  0.1 3505236 212296 pts/6  Rl+  14:52   0:42 gazebo world

It is important to note that this version is not simulating any head or IMU sensors, so I can't use simulated vision. I do not know how expensive simulating two cameras and a laser scanner is.

Performance feedback

I thought it might be useful to give the developers some more global performance feedback about how the DRCSIM simulation is running on our hardware. I urge all you DRC folks out that to comment on this post with your own performance data.

On a Dell Precision T7600
Dual Eight Core XEON (E5-2687W, 3.1GHz, 20M, 8.0 GT/s, Turbo+)
128GB, DDR3 RDIMM Memory,1600MHz, ECC (8 x 16GB DIMMs)
6.0GB NVIDIA Quadro 6000, Dual MON, 2 DP & 1 DVI (glxinfo indicates the Quadro board is what is used for graphics).

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.8

ps augx says:

cga      11245  0.2  0.0 290808 18632 pts/5    Sl+  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      11261  0.2  0.0 570368 12960 ?        Ssl  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/master.log
cga      11274  4.8  0.0 315416  6588 ?        Ssl  14:42   0:19 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/rosout-1.log
cga      11288  0.0  0.0   4404   620 ?        Ss   14:42   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/gazebo-2.log
cga      11289  0.0  0.0 365848 30524 ?        Sl   14:42   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11290  7.7  0.0 501876 10332 ?        Ssl  14:42   0:31 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/robot_state_publ
cga      11292  198  0.2 5054196 271044 ?      Rl   14:42  13:37 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11293 20.2  0.1 3528144 233880 ?      Sl   14:42   1:23 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11306  5.0  0.0 391440  6700 ?        Ssl  14:42   0:20 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnostics __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69f
cga      11334  0.1  0.0 362572 16388 ?        Ssl  14:42   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/fa
cga      11335  8.1  0.0 543696 26480 ?        Ssl  14:42   0:33 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/tf2_buffer_server-6.log
cga      11362  6.8  0.0 505796 16456 ?        Ssl  14:42   0:28 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller __name:=atlas_controller_spawner __log:=/home/cga/.ros/log/bd0c
cga      11365  5.1  0.0 2957208 12364 ?       Ssl  14:42   0:21 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/multisense_sl-stereo_proc

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 flips between 1.0 and 0.99

ps augx says:

cga      12297  0.0  0.0 365848 30524 pts/6    Sl+  14:52   0:00 gazebo world
cga      12299 95.2  0.0 3107288 93976 pts/6   Sl+  14:52   2:56 gazebo world
cga      12300 22.8  0.1 3505236 212296 pts/6  Rl+  14:52   0:42 gazebo world

It is important to note that this version is not simulating any head or IMU sensors, so I can't use simulated vision. I do not know how expensive simulating two cameras and a laser scanner is.


Two observations
1) It appears that the ROS stuff is a big part of the performance problem. Maybe more of it can be pushed out to separate threads.
2) This is a $15,000 machine. I want to use this simulation for teaching. Most students don't have access to this kind of machine. Any ways to trim the fat are good.

Performance feedback

I thought it might be useful to give the developers some more global performance feedback about how the DRCSIM simulation is running on our hardware. I urge all you DRC folks out that to comment (actually, add new answers) on this post with your own performance data.

On a Dell Precision T7600
Dual Eight Core XEON (E5-2687W, 3.1GHz, 20M, 8.0 GT/s, Turbo+)
128GB, DDR3 RDIMM Memory,1600MHz, ECC (8 x 16GB DIMMs)
6.0GB NVIDIA Quadro 6000, Dual MON, 2 DP & 1 DVI (glxinfo indicates the Quadro board is what is used for graphics).

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.8

ps augx says:

cga      11245  0.2  0.0 290808 18632 pts/5    Sl+  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      11261  0.2  0.0 570368 12960 ?        Ssl  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/master.log
cga      11274  4.8  0.0 315416  6588 ?        Ssl  14:42   0:19 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/rosout-1.log
cga      11288  0.0  0.0   4404   620 ?        Ss   14:42   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/gazebo-2.log
cga      11289  0.0  0.0 365848 30524 ?        Sl   14:42   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11290  7.7  0.0 501876 10332 ?        Ssl  14:42   0:31 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/robot_state_publ
cga      11292  198  0.2 5054196 271044 ?      Rl   14:42  13:37 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11293 20.2  0.1 3528144 233880 ?      Sl   14:42   1:23 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11306  5.0  0.0 391440  6700 ?        Ssl  14:42   0:20 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnostics __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69f
cga      11334  0.1  0.0 362572 16388 ?        Ssl  14:42   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/fa
cga      11335  8.1  0.0 543696 26480 ?        Ssl  14:42   0:33 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/tf2_buffer_server-6.log
cga      11362  6.8  0.0 505796 16456 ?        Ssl  14:42   0:28 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller __name:=atlas_controller_spawner __log:=/home/cga/.ros/log/bd0c
cga      11365  5.1  0.0 2957208 12364 ?       Ssl  14:42   0:21 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/multisense_sl-stereo_proc

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 flips between 1.0 and 0.99

ps augx says:

cga      12297  0.0  0.0 365848 30524 pts/6    Sl+  14:52   0:00 gazebo world
cga      12299 95.2  0.0 3107288 93976 pts/6   Sl+  14:52   2:56 gazebo world
cga      12300 22.8  0.1 3505236 212296 pts/6  Rl+  14:52   0:42 gazebo world

It is important to note that this version is not simulating any head or IMU sensors, so I can't use simulated vision. I do not know how expensive simulating two cameras and a laser scanner is.


Two observations
1) It appears that the ROS stuff is a big part of the performance problem. Maybe more of it can be pushed out to separate threads.
2) This is a $15,000 machine. I want to use this simulation for teaching. Most students don't have access to this kind of machine. Any ways to trim the fat are good.

Performance feedback

I thought it might be useful to give the developers some more global performance feedback about how the DRCSIM simulation is running on our hardware. I urge all you DRC folks out that to comment (actually, add new answers) on this post with your own performance data.

On a Dell Precision T7600
Dual Eight Core XEON (E5-2687W, 3.1GHz, 20M, 8.0 GT/s, Turbo+)
128GB, DDR3 RDIMM Memory,1600MHz, ECC (8 x 16GB DIMMs)
6.0GB NVIDIA Quadro 6000, Dual MON, 2 DP & 1 DVI (glxinfo indicates the Quadro board is what is used for graphics).

DRCSIM 1.3.1 out of the box

Real Time Factor hovers around 0.8

ps augx says:

cga      11245  0.2  0.0 290808 18632 pts/5    Sl+  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils atlas.launch
cga      11261  0.2  0.0 570368 12960 ?        Ssl  14:42   0:01 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/master.log
cga      11274  4.8  0.0 315416  6588 ?        Ssl  14:42   0:19 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/rosout-1.log
cga      11288  0.0  0.0   4404   620 ?        Ss   14:42   0:00 /bin/sh /usr/share/drcsim-1.3/ros/atlas_utils/scripts/run_gazebo atlas.world __name:=gazebo __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/gazebo-2.log
cga      11289  0.0  0.0 365848 30524 ?        Sl   14:42   0:00 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11290  7.7  0.0 501876 10332 ?        Ssl  14:42   0:31 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher __name:=robot_state_publisher __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/robot_state_publ
cga      11292  198  0.2 5054196 271044 ?      Rl   14:42  13:37 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11293 20.2  0.1 3528144 233880 ?      Sl   14:42   1:23 gazebo -s libgazebo_ros_api_plugin.so atlas.world
cga      11306  5.0  0.0 391440  6700 ?        Ssl  14:42   0:20 /opt/ros/fuerte/stacks/pr2_mechanism/pr2_mechanism_diagnostics/bin/pr2_mechanism_diagnostics __name:=pr2_mechanism_diagnostics __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69f
cga      11334  0.1  0.0 362572 16388 ?        Ssl  14:42   0:00 python /opt/ros/fuerte/share/rostopic/scripts/rostopic pub /calibrated std_msgs/Bool true __name:=fake_joint_calibration __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/fa
cga      11335  8.1  0.0 543696 26480 ?        Ssl  14:42   0:33 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/tf2_buffer_server-6.log
cga      11362  6.8  0.0 505796 16456 ?        Ssl  14:42   0:28 python /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated atlas_controller __name:=atlas_controller_spawner __log:=/home/cga/.ros/log/bd0c
cga      11365  5.1  0.0 2957208 12364 ?       Ssl  14:42   0:21 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/bd0ce618-5a94-11e2-8bc6-90b11c69ff24/multisense_sl-stereo_proc

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)1.3, still running the GUI and simulation display, simulated robot is exercising while standing).

Real Time Factor flips between 1.0 and 0.99

ps augx says:

cga      12297  0.0  0.0 365848 30524 pts/6    Sl+  14:52   0:00 gazebo world
cga      12299 95.2  0.0 3107288 93976 pts/6   Sl+  14:52   2:56 gazebo world
cga      12300 22.8  0.1 3505236 212296 pts/6  Rl+  14:52   0:42 gazebo world

It is important to note that this version is not simulating any head or IMU sensors, so I can't use simulated vision. I do not know how expensive simulating two cameras and a laser scanner is.


Two observations
1) It appears that the ROS stuff is a big part of the performance problem. Maybe more of it can be pushed out to separate threads.
2) This is a $15,000 machine. I want to use this simulation for teaching. Most students don't have access to this kind of machine. Any ways to trim the fat are good.