Hi Alex,<br><br>Sounds like either more cores or more machines will help
your situation. If you opt to get multiple machines, just watch out
for network connection speeds especially if you need to
transport large image or point cloud data across multiple computers over wifi.<br><br>If you want portability, Adam's data point matches mine, as I think we have the same laptop :). <br>
<br>We are currently experimenting with different ways of speeding up simulation
by means of offloading calculations onto gpu or additional cores, but
for now gazebo will take somewhere between 1.5 to 2 cores. Given your
situation you might benefit from an option to run gazebo in a single
thread; then you can further restrict updateRate to control overall simulation cpu usage. I've ticketed myself here:<br>
<br>
<a href="https://code.ros.org/trac/ros-pkg/ticket/4429">https://code.ros.org/trac/ros-pkg/ticket/4429</a><br>
<br>What is the scene you are trying to simulate?<br>John<br><br><div class="gmail_quote">On Tue, Sep 14, 2010 at 10:08 AM, RobotNV <span dir="ltr"><<a href="mailto:robotnv@gmail.com">robotnv@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div bgcolor="#FFFFFF"><div>Pretty much Gazebo is the one taking 36% of CPU. Video card is fairly decent - <span style="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><div></div><div class="h5"><div><br>On Sep 14, 2010, at 6:14 AM, "Axelrod, Benjamin" <<a href="mailto:baxelrod@irobot.com" target="_blank">baxelrod@irobot.com</a>> wrote:<br>
<br></div><div></div><blockquote type="cite"><div>
<div>
<p class="MsoNormal"><span>Is the slow
behavior only when using Gazebo and rviz? What kind of graphics card do you
have, and are the drivers properly installed? </span></p>
<p class="MsoNormal"><span> </span></p>
<div style="border-width: 1pt medium medium; border-style: solid none none; border-color: rgb(181, 196, 223) -moz-use-text-color -moz-use-text-color; padding: 3pt 0in 0in;">
<p class="MsoNormal"><b><span style="font-size: 10pt;">From:</span></b><span style="font-size: 10pt;">
<a href="mailto:ros-users-bounces@code.ros.org" target="_blank">ros-users-bounces@code.ros.org</a> [mailto:<a href="mailto:ros-users-bounces@code.ros.org" target="_blank">ros-users-bounces@code.ros.org</a>] <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" target="_blank"></a><a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<b>Subject:</b> [ros-users] c-snail</span></p>
</div>
<p class="MsoNormal"> </p>
<div>
<p class="MsoNormal">Hello everybody,</p>
</div>
<div>
<p class="MsoNormal"> </p>
</div>
<div>
<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, </p>
</div>
<div>
<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. </p>
</div>
<div>
<p class="MsoNormal">So it takes about 30 minutes to get across a hall of WG.</p>
</div>
<div>
<p class="MsoNormal">Which is not that much fun, and now I'm looking at the
ways to improve this situation:</p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">a) Upgrade processor to dual-core AMD Athlon 64 X2 (dual core) and
install 64-bit Linux.</span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">b) Run Gazebo on another machine</span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">c) Get a new AMD Phenom II X6 (six cores) machine </span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; 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" target="_blank"></a><a href="http://ros-users.122217.n3.nabble.com/cpu-usage-of-Gazebo-td911241.html#a913849" target="_blank">http://ros-users.122217.n3.nabble.com/cpu-usage-of-Gazebo-td911241.html#a913849</a></span></p>
</div>
<div>
<p class="MsoNormal"> </p>
</div>
<div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">I searched this list for AMD/Athlon and did not find much. </span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">I'm guessing that's because WG uses Intel Quad Core i7 Xeon
processors.</span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;"> </span></p>
</div>
<div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">What would you guys recommend?</span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;"> </span></p>
</div>
<p class="MsoNormal"><span style="font-size: 10pt; 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. </span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;"> </span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; 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?</span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;"> </span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">Thank you for your time,</span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size: 10pt; color: black;">Alex</span></p>
</div>
</div>
</div>
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