The robot I tested on is running 2.6.31.12-rt21. Sirq-net-rx using up around 10% CPU is normal as an "idle" robot is streaming about 500Mbps of camera data. I talked to Derek King, and from what he tells me, you should not be seeing any dropped packets in the Ethercat Master, certainly not a few times per second. Are you seeing dropped ethercat packets in the diagnostics? 2010/9/23 Lorenz Mösenlechner : > Hi Blaise, > > are you guys at Willow maybe running a newer kernel version? On our > PR2, we have version 2.6.29.6-rt24 and top shows that processes like > sirq-net-rx/6 eat up quite some cpu (up to 10%) on an idle > robot. > > Lorenz > >> Hi Ulrich, >> >> I just did some tests on one of our robots, and it is rock solid, except for: >> 1. glitches every few multiples of 10 seconds because of the trigger >> controller refresh I got you to try taking out. >> 2. glitches that coincide with ethercat dropping packets (you can see >> this in the diagnostics for eth Ethercat Master, in the Motors >> section. >> >> From the data you sent me, you are getting glitches that are not >> related to case 1. Can you have a look to see if dropped packets are >> being reported by the ethercat master diagnostics? >> >> Do these glitches occur even when the computers are under light load? >> (Nothing running except robot.launch and the image viewers.) >> >> If you are dropping packets every few seconds under light load, then >> there may be a problem with your robot, and I would recommend opening >> a support ticket. >> >> Thanks, >> Blaise >> >> On Thu, Sep 23, 2010 at 11:21 AM, Blaise Gassend >> wrote: >> > Hi Ulrich, >> > >> > I had a look at your bags, and I am noticing that there is a lot of >> > oscillation in the image intensity. Auto-gain/exposure don't work well >> > with alternating mode, and I would recommend switching them off. >> > >> >> Thomas Rühr could help me out -i could not be in the lab today - and >> >> recorded two bags with a synchronization node including the code changes you >> >> proposed. >> > >> > Thanks for the bags. I see in the textured an interval of 3 seconds >> > between flashes. Is that interval always the same, or is it different >> > each time? >> > >> > Can you confirm that both cameras have problems at the same time? >> > >> > From the times at which the images are being sent, it looks like there >> > may be an extra or missing trigger pulse. I'm going to try to >> > reproduce this on one of our robots... >> > >> > I wonder if you could send me a bag of the following topics: >> > /head_camera_trigger/waveform, /projector_trigger/waveform, >> > /head_camera_trigger/trigger_narrow_stereo_both, >> > /projector_trigger/on_time, /projector_trigger/off_time, >> > /narrow_stereo/left/camera_info, >> > /narrow_stereo_textured/left/camera_info, >> > /narrow_stereo/right/camera_info, >> > /narrow_stereo_textured/right/camera_info. You can make this one >> > pretty long, say a minute, as it is a lot less data. >> > >> >> Do you think, that is solvable at all? >> > >> > Hard to know until we know what the problem is. >> > >> >> Can the projector be switched on and >> >> off instead of being modulated? >> > >> > The projector cannot be turned on continuously because it would >> > overheat. It is limited to 2 ms pulses (I forget the exact duty >> > cycle). You can of course turn it off all the time, but I don't see >> > how that would help you if you need alternating mode. >> > >> > One last thing: if you want to be able to filter out the images that >> > are having trouble, I believe that you can use the image timestamp. >> > The timestamps should be totally periodic when things are working >> > well. When you get the bad images, the interval between two images >> > will be different from what it usually is. >> > >> > Cheers, >> > Blaise >> > >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > -- > Lorenz Mösenlechner            | moesenle@in.tum.de > Technische Universität München | Boltzmannstr. 3 > 85748 Garching bei München     | Germany > http://ias.cs.tum.edu/         | Tel: +49 (89) 289-26910 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >