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

[Alexandre H. V. S. <ahv...@gm...>]

I changed my ' robot.runThreaded (-1, -1); ' to ' robot.runThreaded (100,
-1); ', as jugested John and I printed every sonnar read and position chang=
e
(with 'System.out.println()' ).

Gazebo still run 'jumping'...  :-(

The application is not reading and seeting position too much, its normal.

Java is consumming about 30% - 60% of CPU, wxGazebo about 4% and gazebo
about 7%.

I make other videos showing CPU usage with only Gazebo and with Java
applicatio.
Both can be found at
http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/OnlyGazebo.ogg and a=
t
http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/GazeboWithJavaApp.og=
grepectively.

The other videos also show CPU usage:
- http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/Gazebo.ogg  =3D> w=
all
follower in Gazebo
- http://www.lsi.cefetmg.br/~ahvsoares/robotica/exemplos/Stage.ogg  =3D> wa=
ll
follower in Stage


Thanks.

2007/1/30, Radu Bogdan Rusu <ru...@cs...>:
>
> John Oliver wrote:
> > My initial thought would be that looking at the code if you pass -1 to =
a
> > runThreaded then the PlayerClient will only yield in between each read(=
)
> > function to the simulator.  This will then allow other threads to
> execute,
> > if there are none requiring execution then it will come back almost
> > immediately and issue another read(), this could then mean that you are
> > spamming the simulator with thousands of read requests a second, on top
> of
> > the read request that is in the main loop of the circleWalk.
>
> Just one remark here... if you are running in threaded mode, but you also
> attempt to read
> "manually" from your main loop, the read will return and do nothing,
> because:
> ---
> public int readAll () {
>    if (isThreaded) return 0;
> ...
> ---
>
> Also the Space Wanderer example should contain a Thread.sleep () which
> assures that your
> main loop is not going to execute too fast.
>
> Other than that, I agree with John that it would be good to view how much
> CPU time does a
> process consume. It might be Java but it might be something else as well.
> If it's running
> in Stage just fine, I think we are hitting a bottleneck somewhere (?).
>
> Radu.
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
> | http://www9.cs.tum.edu/people/rusu/
> | Intelligent Autonomous Systems
> | Technische Universitaet Muenchen
>
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--=20

Alexandre Henrique Vieira Soares
____________________________________________________
Mestrando em Modelagem Matem=E1tica e Computacional
Linha de Pesquisa: Sistemas Inteligentes
Cefet-MG
Belo Horizonte, Brasil