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<p class=MsoNormal><span style='font-family:"Calibri","sans-serif"'>Is the slow
behavior only when using Gazebo and rviz? What kind of graphics card do you
have, and are the drivers properly installed? <o:p></o:p></span></p>
<p class=MsoNormal><span style='font-family:"Calibri","sans-serif"'><o:p> </o:p></span></p>
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<p class=MsoNormal><b><span style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>From:</span></b><span
style='font-size:10.0pt;font-family:"Tahoma","sans-serif"'>
ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] <b>On
Behalf Of </b>Alex Barvo<br>
<b>Sent:</b> Monday, September 13, 2010 9:06 PM<br>
<b>To:</b> ros-users@code.ros.org<br>
<b>Subject:</b> [ros-users] c-snail<o:p></o:p></span></p>
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<p class=MsoNormal><o:p> </o:p></p>
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<p class=MsoNormal>Hello everybody,<o:p></o:p></p>
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<p class=MsoNormal> <o:p></o:p></p>
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<p class=MsoNormal>When I run Gazebo and rviz on my Athlon 64 3500 (one
core) 5 year old machine running Kubuntu Lucid 32-bit, <o:p></o:p></p>
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<p class=MsoNormal>the cturtle looks more like a c-snail. With CPU at 100% all
the time, I see updates in rviz about every 5 seconds. <o:p></o:p></p>
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<p class=MsoNormal>So it takes about 30 minutes to get across a hall of WG.<o:p></o:p></p>
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<p class=MsoNormal>Which is not that much fun, and now I'm looking at the
ways to improve this situation:<o:p></o:p></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>a) Upgrade processor to dual-core AMD Athlon 64 X2 (dual core) and
install 64-bit Linux.</span><o:p></o:p></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>b) Run Gazebo on another machine</span><o:p></o:p></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>c) Get a new AMD Phenom II X6 (six cores) machine </span><o:p></o:p></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>d) Try to mess with performance of Gazebo as outlined by John
here: <a
href="http://ros-users.122217.n3.nabble.com/cpu-usage-of-Gazebo-td911241.html#a913849">http://ros-users.122217.n3.nabble.com/cpu-usage-of-Gazebo-td911241.html#a913849</a></span><o:p></o:p></p>
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<p class=MsoNormal> <o:p></o:p></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>I searched this list for AMD/Athlon and did not find much. <o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>I'm guessing that's because WG uses Intel Quad Core i7 Xeon
processors.<o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'> <o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>What would you guys recommend?<o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'> <o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>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. <o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'> <o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>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?<o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'> <o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>Thank you for your time,<o:p></o:p></span></p>
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<p class=MsoNormal><span style='font-size:10.0pt;font-family:"Verdana","sans-serif";
color:black'>Alex<o:p></o:p></span></p>
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