Pretty much Gazebo is the one taking 36% of CPU. Video card is fairly decent - Galaxy Technology 512 MB DDR3 GeForce GT240.

I do have faster PCs, but they are all on the "dark side" - with no prospect of converting to Linux any time soon. 

On Sep 14, 2010, at 6:14 AM, "Axelrod, Benjamin" <baxelrod@irobot.com> wrote:

> Is the slow behavior only when using Gazebo and rviz?  What kind of graphics card do you have, and are the drivers properly installed? 
> 
>  
> 
> From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] On Behalf Of Alex Barvo
> Sent: Monday, September 13, 2010 9:06 PM
> To: ros-users@code.ros.org
> Subject: [ros-users] c-snail
> 
>  
> 
> Hello everybody,
> 
>  
> 
> When I run Gazebo and rviz on my Athlon 64 3500 (one core) 5 year old machine running Kubuntu Lucid 32-bit,
> 
> the cturtle looks more like a c-snail. With CPU at 100% all the time, I see updates in rviz about every 5 seconds.
> 
> So it takes about 30 minutes to get across a hall of WG.
> 
> Which is not that much fun, and now I'm looking at the ways to improve this situation:
> 
> a) Upgrade processor to dual-core AMD Athlon 64 X2 (dual core) and install 64-bit Linux.
> 
> b) Run Gazebo on another machine
> 
> c) Get a new AMD Phenom II X6 (six cores) machine 
> 
> d) Try to mess with performance of Gazebo as outlined by John here: http://ros-users.122217.n3.nabble.com/cpu-usage-of-Gazebo-td911241.html#a913849
> 
>  
> 
> I searched this list for AMD/Athlon and did not find much.
> 
> I'm guessing that's because WG uses Intel Quad Core i7 Xeon processors.
> 
>  
> 
> What would you guys recommend?
> 
>  
> 
> I understand it's hard to recommend PC hardware, but I'm asking here to get a feel of what would be a good solution that will get me going with ROS for another couple of years. 
> 
>  
> 
> So far my impression is ROS is highly multi-process system and probably going to get even more so in the near future. Thus I was looking for a CPU with more cores. Am I going in the right direction?
> 
>  
> 
> Thank you for your time,
> 
> Alex
> 
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