Dear all, I have a question about CPU usage of Gazebo to ask, my problem is like this: when I use this command: roslaunch gazebo empty_world.launch, and then I use top command to see the usage of cpu. It gave the following information. From that information, we can see the the usage of CPU is 74%. It is so high!! Can you imagine that: if you just have a normal PC, when you run Gazebo simulation, suddenly your PC will become so slow. I want to ask how to make the Gazebo take less CPU usage in simulation? Thank you very much in advance! top - 13:40:55 up 1:32, 5 users, load average: 0.26, 0.11, 0.04 Tasks: 183 total, 3 running, 180 sleeping, 0 stopped, 0 zombie Cpu(s): 20.4%us, 13.4%sy, 0.0%ni, 64.7%id, 0.0%wa, 0.2%hi, 1.3%si, 0.0%st Mem: 2061400k total, 1049648k used, 1011752k free, 124236k buffers Swap: 6040400k total, 0k used, 6040400k free, 502760k cached PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND 3396 cob 20 0 208m 88m 63m S 74 4.4 1:02.76 gazebo 3393 cob 20 0 35960 4652 4036 S 32 0.2 0:25.51 rosout 1846 cob 20 0 403m 168m 31m S 14 8.4 9:41.72 firefox 1242 root 20 0 558m 35m 9876 S 12 1.8 1:45.68 Xorg 1772 cob 20 0 83676 42m 14m R 10 2.1 0:37.47 compiz.real 1981 cob 20 0 38668 13m 9500 S 0 0.7 0:01.30 gnome-terminal 3462 cob 20 0 2472 1200 880 R 0 0.1 0:00.10 top 1 root 20 0 2532 1532 1140 S 0 0.1 0:00.98 init 2 root 15 -5 0 0 0 S 0 0.0 0:00.00 kthreadd 3 root RT -5 0 0 0 S 0 0.0 0:00.00 migration/0 4 root 15 -5 0 0 0 S 0 0.0 0:00.00 ksoftirqd/0 5 root RT -5 0 0 0 S 0 0.0 0:00.00 watchdog/0 6 root RT -5 0 0 0 S 0 0.0 0:00.00 migration/1 7 root 15 -5 0 0 0 S 0 0.0 0:00.05 ksoftirqd/1 8 root RT -5 0 0 0 S 0 0.0 0:00.00 watchdog/1 9 root RT -5 0 0 0 S 0 0.0 0:00.00 migration/2 10 root 15 -5 0 0 0 S 0 0.0 0:00.02 ksoftirqd/2 -- View this message in context: http://ros-users.122217.n3.nabble.com/cpu-usage-of-Gazebo-tp911241p911241.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ ros-users mailing list ros-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/ros-users