DRCSIM: performance gone? [closed]
On my dual CPU Intel(R) Xeon(R) CPU E5-2687W 0 @ 3.10GHz I am now getting a Real Time Factor of 0.06 for the following:
source /usr/share/drcsim/setup.sh roslaunch atlas_utils vrc_task_2.launch
I rebooted, and downloaded drcsim from bitbucket at 4pm EDT, and still performance is bad. This is gazebo-1.5 and the current drcsim-2.2.?
The only update I did today was libbullet.
The CPU load (below) is actually less than when I run the qual_task_4, which almost runs at real time (3rd column in ps augx printout):
cga 11078 0.5 0.0 291264 19224 pts/0 Sl+ 16:27 0:00 /usr/bin/python /opt/ros/fuerte/bin/roslaunch atlas_utils vrc_task_2.launch cga 11094 0.6 0.0 570332 14488 ? Ssl 16:27 0:00 /usr/bin/python /opt/ros/fuerte/bin/rosmaster --core -p 11311 __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/master.log cga 11107 0.3 0.0 315416 6592 ? Ssl 16:27 0:00 /opt/ros/fuerte/share/rosout/bin/rosout __name:=rosout __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/rosout-1.log cga 11121 0.0 0.0 4404 620 ? Ss 16:27 0:00 /bin/sh /usr/share/drcsim-2.2/ros/atlas_utils/scripts/run_gazebo vrc_task_2.world __name:=gazebo __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/gazebo-2.log cga 11122 0.0 0.0 421640 34764 ? Sl 16:27 0:00 gazebo -s libgazebo_ros_api_plugin.so vrc_task_2.world cga 11123 0.4 0.0 431964 16308 ? Ssl 16:27 0:00 python /usr/share/sandia-hand-5.1/ros/sandia_hand_teleop/simple_grasp.py __name:=simple_grasp_left __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/sandia_hands-l_hand-simple_ cga 11125 124 0.3 7198048 440040 ? Sl 16:27 2:56 gazebo -s libgazebo_ros_api_plugin.so vrc_task_2.world cga 11126 24.1 0.3 5983816 426092 ? Sl 16:27 0:34 gazebo -s libgazebo_ros_api_plugin.so vrc_task_2.world cga 11127 0.4 0.0 431960 16304 ? Ssl 16:27 0:00 python /usr/share/sandia-hand-5.1/ros/sandia_hand_teleop/simple_grasp.py __name:=simple_grasp_right __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/sandia_hands-r_hand-simple cga 11130 1.6 0.0 503132 11568 ? Ssl 16:27 0:02 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher joint_states:=/atlas/joint_states __name:=atlas_robot_state_publisher __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11 cga 11145 1.4 0.0 503136 11568 ? Ssl 16:27 0:02 /opt/ros/fuerte/stacks/robot_model/robot_state_publisher/bin/state_publisher joint_states:=/multisense_sl/joint_states __name:=multisense_sl_robot_state_publisher __log:=/home/cga/.ros/log/ cga 11165 1.5 0.0 543696 9852 ? Ssl 16:27 0:02 /opt/ros/fuerte/stacks/geometry_experimental/tf2_ros/bin/buffer_server __name:=tf2_buffer_server __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/tf2_buffer_server-7.log cga 11199 0.5 0.0 2956832 11968 ? Ssl 16:27 0:00 /opt/ros/fuerte/stacks/image_pipeline/stereo_image_proc/bin/stereo_image_proc __name:=stereo_proc __log:=/home/cga/.ros/log/7a4e2c74-8c1c-11e2-99ac-90b11c69ff24/multisense_sl-camera-stereo_
roslaunch atlas_utils vrc_task_1.launch
gets RTF = 0.45 (worse than with previous versions).
roslaunch atlas_utils vrc_task_3.launch
gets RTF = 0.31 (worse than with previous versions).
qual_task_1 is > 0.9 qual_task_2 is > 0.9 qual_task_3 is 0.85 qual_task_4 is > 0 ...
"So the rubble is killing us, and the hands aren't helping."
You wanna know what really gets you killed? Try subscribing to the lidar scan in vrc world 2 and watch the RTF drop all the way from 1.3 to 0.02 (no rubble, no hands).