Re: [Java-player-users] Gazebo is running strange

[John O. <joh...@gm...>]

**In response to private message**

I think there are a number of things going on here.=20

First was it me but you were getting the same issues when you were not usin=
g
java at all.  At one point in the gazeboOnly video the clock stops at 59.2
for about 3 seconds for no apparent reason.  To me this seems to point to
some issue with gazebo/stage and not java.

Secondly I presume the stage video was running a simple algorithm but java
was consuming all the spare cpu time it could by the look of it.  Your
recorder program was taking 20%ish but if that was not there I think java
would have taken it anyway.  Having run it on my system with
runThread(-1,-1) it took 99.9% cpu usage, although it didn=E2=80=99t seem t=
o slow
the system down at all, java must do something a bit weird with its
yielding, to take 99.9% cpu time but not slow things down.  However running
with (1,-1) reduced cpu usage to 18%.  So I would probably recommend callin=
g
runTreaded with some reasonable values so that java does not do its cpu
eating thing.

However again I do not think that Java is the issue since the problem
appeared to exist in the gazeboOnly video too, its just more noticeable whe=
n
java is running, probably since java is taking more processing power.

John



Alexandre Henrique Vieira Soares wrote:
>=20
> Hi, I'm trying do run a Java application with Gazebo and I noticed that
> the
> execution of the application is making Gazebo be slow.
>=20
> The robot is not showing a continuous movement, it is "jumping" along the
> time. I have already noticed that the Gazebo timer (the time that is show=
n
> on the interface) is stopping, the same as the robot.
>=20
> Running " glxinfo | grep rendering " command I got " direct rendering: Ye=
s
> "
> .
>=20
> I run the CircleWalk example (
> http://java-player.sourceforge.net/docs/howto.pdf ) on Gazebo using
> Javaclient and everything was right.
>=20
> Looking the Wall Follower example (
> http://java-player.sourceforge.net/examples/2.x/SpaceWandererExample.tgz =
,
> which were strange, with the robot 'jumping'), I saw a '
> robot.runThreaded(-1, -1);' command.
>=20
> When I put this command on CircleWalk example the same as Wall Follower
> example occured... the robot started jumping...
>=20
> So, I tried to remove the 'robot.runThreaded (-1, -1);' from Wall Followe=
r
> example and the robot stopped moving... the application only works with
> that
> command.
>=20
> I run the same application on Stage and all works fine.
>=20
> Is there something I can do to make the robot movement continuous on
> Gazebo?
>=20
> My computer is an Athlon XP 2400+, 512MB RAM, my video card is a GeForce4
> MX
> 4000 AGP 8x with 128MB of memory.
>=20
> Thanks.
>=20
> PS.: The Gazebo application can be found in
> http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/WallFollowerExampl=
eGazebo.zipand
> the Stage application can be found in
> http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/WallFollowerExampl=
eStage.zip.
> Both
> n<http://www.lsi.cefetmg.br/%7Eahvsoares/robotica/exemplos/WallFollowerEx=
ample-Gazebo.tgz>eeds
> Javaclient API. The videos running Gazebo application can be found in
> http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/Gazebo.ogg and the
> Stage video in
> http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/Stage.ogg .
>=20
> --=20
> Alexandre Henrique Vieira Soares
> ____________________________________________________
> Mestrando em Modelagem Matem=C3=A1tica e Computacional
> Linha de Pesquisa: Sistemas Inteligentes
> Cefet-MG
> Belo Horizonte, Brasil
>=20
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>=20
>=20

--=20
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