gazebo performance sensitive to existence of sensor rendering thread or gzclient

Issue #578 closed
John Hsu
created an issue

With a valid display,

roslaunch atlas_utils atlas.launch gzname:=gzserver

gzstats yields roughly 2.16X real-time factor:

Factor[2.16] SimTime[26.31] RealTime[11.85] Paused[F]

However, if I disable rendering by supplying a bogus DISPLAY:

export DISPLAY=:1282.3282
roslaunch atlas_utils atlas.launch gzname:=gzserver

gzstats shows 10~15% performance improvement:

Factor[2.41] SimTime[135.76] RealTime[56.67] Paused[F]

Not sure if it's related, but similar slow down appears if gzclient is started on a remote machine.

Comments (8)

  1. John Hsu reporter

    some benchmark statistics from my desktop:


    processor   : 7
    vendor_id   : GenuineIntel
    cpu family  : 6
    model       : 58
    model name  : Intel(R) Core(TM) i7-3770K CPU @ 3.50GHz
    stepping    : 9
    microcode   : 0x12
    cpu MHz     : 3501.000
    cache size  : 8192 KB
    physical id : 0
    siblings    : 8
    core id     : 3
    cpu cores   : 4
    apicid      : 7
    initial apicid  : 7
    fpu     : yes
    fpu_exception   : yes
    cpuid level : 13
    wp      : yes
    flags       : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm pcid sse4_1 sse4_2 popcnt tsc_deadline_timer aes xsave avx f16c rdrand lahf_lm ida arat epb xsaveopt pln pts dtherm tpr_shadow vnmi flexpriority ept vpid fsgsbase smep erms
    bogomips    : 7020.47
    clflush size    : 64
    cache_alignment : 64
    address sizes   : 36 bits physical, 48 bits virtual
    power management:
    Launch File Revision DISPLAY Real-time Factor
    qual_task_2.launch 7cbd6df Y 1.50
    qual_task_2.launch 94f55b2 (with pull request #370) Y 1.50
    qual_task_2.launch 7cbd6df N 1.73
    qual_task_2.launch 94f55b2 (with pull request #370) N 1.72
    atlas.launch 7cbd6df Y 2.16
    atlas.launch 94f55b2 (with pull request #370) Y 2.16
    atlas.launch 7cbd6df N 2.40
    atlas.launch 94f55b2 (with pull request #370) N 2.40
    atlas_sandia_hands.launch 7cbd6df Y 1.29
    atlas_sandia_hands.launch 94f55b2 (with pull request #370) Y 1.29
    atlas_sandia_hands.launch 7cbd6df N 1.47
    atlas_sandia_hands.launch 94f55b2 (with pull request #370) N 1.47
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