[ros-users] cpu usage of Gazebo

[hjieboy85]

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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