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
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