Hi, Gazebo by default tries to run as fast as possible, this means when simulating a more complex world such as one containing a PR2, you will be using nearly 2 full cores consistently. One way to limit cpu usage is by throttling the time step advancement rate, specifying an updateRate tag in the world file's physics block, i.e.: ... 100 In this example, if the stepTime is 1ms, then your simulation will run as fast as 0.1X real-time, alleviating machine load issues. Alternatively, if you have an additional machine to run simulation on, you can treat it as a pr2 and talk to it through ros as you would an actual robot. Lastly, we've realized that the time publisher might be taking up quite a bit of cpu time, so I opened a ticket here: https://code.ros.org/trac/ros-pkg/ticket/4196 hope this helps, John On Mon, Jun 21, 2010 at 4:58 AM, hjieboy85 wrote: > > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >