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We do have the same problem here on several machines. Even a powerful 4 core machine with nvidia graphics (ubuntu 10.4 64bit, electric) runs only at 0.03xrealtime. It was at least 10 times faster with diamondback. Interestingly enough the same speed is shown on a i5 laptop with intel graphics. So one could speculate that it is somehow controlled to that speed, not limited by the hardware.

I talked to some people at IPA and they have seen this also, but only sporadicly. They can get rid of that by starting again. One person remembers to have seen this under diamondback also, but feels that occurecne increased under electric. For us it keeps beeing slow for every start.

Any ideas how to attac this and narrow down the reason?

We do have the same problem here on several machines. Even a powerful 4 core machine with nvidia graphics (ubuntu 10.4 64bit, electric) runs only at 0.03xrealtime. It was at least 10 times faster with diamondback. Interestingly enough the same speed is shown on a i5 laptop with intel graphics. So one could speculate that it is somehow controlled to that speed, not limited by the hardware.

I talked to some people at IPA and they have seen this also, but only sporadicly. They can get rid of that by starting again. One person remembers to have seen this under diamondback also, but feels that occurecne increased under electric. For us it keeps beeing slow for every start.

Any ideas how to attac this and narrow down the reason?

We do have the same problem here on several machines. Even a powerful 4 core machine with nvidia graphics (ubuntu 10.4 64bit, electric) runs only at 0.03xrealtime. It was at least 10 times faster with diamondback. Interestingly enough the same speed is shown on a i5 laptop with intel graphics. So one could speculate that it is somehow controlled to that speed, not limited by the hardware.

I talked to some people at IPA and they have seen this also, but only sporadicly. They can get rid of that by starting again. One person remembers to have seen this under diamondback also, but feels that occurecne increased under electric. For us it keeps beeing slow for every start.

Any ideas how to attac this and narrow down the reason?

For the base motion: you need to start cob_2dnav. Only then commanding base motion works. You can the then move the base also from rviz by setting target goals.