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Unstable real time speed

asked 2019-12-16 21:02:29 -0500

gecastro gravatar image

updated 2019-12-17 19:05:14 -0500

Hi all,

I'm not sure if this is a problem of gazebo or not. I have a simulation running with ROS Kinetic and Gazebo 9. A similar problem happens with Gaebo 7

On a "good day" the simulation can run at 0.8 real time, on a "bad day" simulation won't run over 0.4 and some other days the speed would slow down within the day.

I have been thinking that it could be some problem related to power management/cpu temperature? Does anyone has experienced similar problems?

PS1: Given that the IMU sensor seems to give inconsistent results when speed changes so drastically, I'm running the simulation at 0.5, but some days the simulation can't keep up with that speed.

PS2: I'm working on a laptop, which is constantly connected to power.

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answered 2019-12-17 21:19:14 -0500

rahul gravatar image

A lot of factors add to the real time factor you see on Gazebo. Foe example:

  • How complex is your model and whether inertial tensor you have used match with the collision you are using in xacro/urdf file
    • How many models you have spawned in Gazebo
    • How many nodes you are running
    • What is the publish rate of those nodes
    • Are you using sensors like laser, camera, GPS, etc. A good remedy can be to run the simulation at the slower than real time. Also try to simplify your model.
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It is 1 model, a Robotis ThorMang, approximately 23 nodes, including gazebo. I'm already running the simulation below real-time speed, my question goes more on the inconsistency. It usually ends up "stabilizing" anywhere between 0.3 to 0.8. It runs perfectly well at 0.8, some times... Note, if I unplug the power cord from the laptop, the power-saving features of the processor kick in and the simulation runs at 0.25 I started capping the speed to 0.5. Now, I'm down to 0.25. It seems ok so far

gecastro gravatar imagegecastro ( 2020-01-02 21:50:08 -0500 )edit
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Asked: 2019-12-16 21:02:29 -0500

Seen: 120 times

Last updated: Dec 17 '19