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osrf / drcsim

Repository for the DRC project.
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laser running slow #251

Closed osrf-migration closed 11 years ago

osrf-migration commented 11 years ago

Original report (archived issue) by Brian Gerkey (Bitbucket: Brian Gerkey, GitHub: gerkey).

On a SoftLayer machine, we saw the laser producing scans at 30Hz instead of 40Hz. Procedure:

roslaunch atlas_utils vrc_task_3.launch
$ rostopic hz /multisense_sl/laser/scan 
subscribed to [/multisense_sl/laser/scan]
average rate: 29.520
    min: 0.033s max: 0.035s std dev: 0.00078s window: 9
average rate: 29.412
    min: 0.033s max: 0.035s std dev: 0.00079s window: 17

Curious that it seems to be pegged to 30Hz.

This was done with the -nightly debs as of 6 May 2013:

ii  drcsim-nightly      2.5.2~hg20130506rc2 Darpa Robotics Challenge (DRC) simulator
ii  gazebo-nightly      1.7.1~hg20130506r25 3D dynamics simulator for robotics
ii  osrf-common-nightly 1.0.6~hg20130506r0c Software and messages used in 
ii  sandia-hand-nightly 5.1.13~hg20130506r2 Software, firmware, and simulation models for the Sand
osrf-migration commented 11 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

For reference, I get

rostopic hz /multisense_sl/laser/scan 
subscribed to [/multisense_sl/laser/scan]
average rate: 39.801
    min: 0.000s max: 0.039s std dev: 0.01528s window: 33
average rate: 40.138
    min: 0.000s max: 0.039s std dev: 0.01619s window: 71
average rate: 39.970
    min: 0.000s max: 0.039s std dev: 0.01647s window: 108

on

dpkg -l | grep nightly
ii  drcsim-nightly                           2.5.2~hg20130507r03359445b737-1~precise             Darpa Robotics Challenge (DRC) simulator
ii  gazebo-nightly                           1.7.1~hg20130507r256f98f2318b-1~precise             3D dynamics simulator for robotics
ii  osrf-common-nightly                      1.0.6~hg20130507r0ca0ece5b122-1~precise             Software and messages used in multiple OSRF projects
ii  sandia-hand-nightly                      5.1.13~hg20130507r23b3eabf3f3e-1~precise            Software, firmware, and simulation models for the Sandia Hand

on my desktop.

osrf-migration commented 11 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

turns out there is a slow drift in rate in some cases, see gazebo issue #688

osrf-migration commented 11 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

pull request #536 in gazebo

osrf-migration commented 11 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).