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Hello all.
I built an autonomous car simulation in Gazebo. But for some reason my simulation runs with a very low time rate (around 0.1 off the real time) .
My program includes a number of different nodes and I suspect that some of those nodes use considerably more CPU than others.
The question is : Is there a way to see the CPU usage of each running node ?
Since normal nodes are started as distinct processes a simple top or htop should do the trick.
Sadly i dont know of a way to see the load if you are working with nodelets that reside within the same process. Maybe someone else can shed some light, if this is even possible? (Other than starting the nodelets in different managers and making them distinct processes?)
Gazebo, itself, can use a lot of CPU cycles, depending on how detailed your simulation model is. A good place to start is checking the CPU load for those processes. We created simpler models for when we need more robots or better performance, saving the detailed models for other purposes.
I recently wrote a rqt plugin to show process info for running nodes. It's still very much a work in progress, but the basic functionality is there:
https://github.com/OSUrobotics/rostop...
UPDATE by @130s: It is released as http://wiki.ros.org/rqt_top
Asked: 2013-01-11 21:24:51 -0600
Seen: 10,032 times
Last updated: May 22 '18
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