Performance feedback [closed]
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 ...
Comments suck (300 char limit, no formatting), just add more answers instead.
you can also edit the original post to add more info :-)
The only "formatting" option in comments I've found is shift-enterX2 creates newlines.