<html><body bgcolor="#FFFFFF"><div>Pretty much Gazebo is the one taking 36% of CPU. Video card is fairly decent - <span class="Apple-style-span" style="-webkit-tap-highlight-color: rgba(26, 26, 26, 0.296875); -webkit-composition-fill-color: rgba(175, 192, 227, 0.230469); -webkit-composition-frame-color: rgba(77, 128, 180, 0.230469); font-size: medium; ">Galaxy Technology 512 MB DDR3 GeForce GT240.</span><br><br></div><div>I do have faster PCs, but they are all on the "dark side" - with no prospect of converting to Linux any time soon. </div><div><br>On Sep 14, 2010, at 6:14 AM, "Axelrod, Benjamin" <<a href="mailto:baxelrod@irobot.com">baxelrod@irobot.com</a>> wrote:<br><br></div><div></div><blockquote type="cite"><div>
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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"">
<a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a> [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> <a href="mailto:ros-users@code.ros.org"><a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a></a><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"><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></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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