Gazebo runs more slowly on a better computer [closed]

asked 2020-01-16 07:27:01 -0500

smihael gravatar image

updated 2020-01-23 09:50:43 -0500

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 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 ( same goes for gpu ( and disks ( 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 ( So this does not seem to be gazebo related problem. For future reference, what benchmarks are most relevant for gazebo?

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


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 -0500 )edit

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

smihael gravatar imagesmihael ( 2020-01-24 02:27:08 -0500 )edit