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.:
<physics:ode>
...
<updateRate>100</updateRate>
</physics:ode>
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 <
hjieboy85@hotmail.com> 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.
>
>
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