collision_state.py occupies 100% CPU

[garaemon]

collision_state.py looks heavy but I believe it just read collision detector's sate.

[garaemon]

50Hz -> 100%
10Hz -> 20%
1Hz -> 2%

OTH, HrpsysSeqStateROSBridge is 40% in 100Hz

[k-okada]

please check other process, too. I think everynode is very heavy than we
expected.
#408 (comment)

◉ Kei Okada

On Wed, Jul 29, 2015 at 11:52 AM, Ryohei Ueda [email protected]
wrote:

collision_state.py looks heavy but I believe it just read collision
detector's sate.

[image: screenshot_from_2015-07-29 11 52 05]
https://cloud.githubusercontent.com/assets/40454/8948964/49d625b0-35e8-11e5-9ffd-df34ba851a3c.png

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#782.

[garaemon]

The top python is collision_state.py

[k-okada]

so you're using everything in same machine without using /clock, that's
different than my use case.

• if /clock is published rospy becomes very heavy (
  http://answers.ros.org/question/29425/rospy-horrible-performance-with-sim_time/
  )
• if rtcd and collision_state.py run in different machine,
  collision_state.py is heavy but also othre nodes are heavy

Please check if CPU usage if rtcd decrease, when you kill
collision_state.py,

◉ Kei Okada

On Wed, Jul 29, 2015 at 12:01 PM, Ryohei Ueda [email protected]
wrote:

[image: screenshot_from_2015-07-29 12 00 27]
https://cloud.githubusercontent.com/assets/40454/8949060/77133c42-35e9-11e5-8c07-44c7bc6c611c.png

The top python is collision_state.py

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#782 (comment)
.

[k-okada]

also I'd like to know all command line arguments when you started
collsion_state.py

◉ Kei Okada

On Wed, Jul 29, 2015 at 12:07 PM, Kei Okada [email protected]
wrote:

so you're using everything in same machine without using /clock, that's
different than my use case.

• if /clock is published rospy becomes very heavy (
  http://answers.ros.org/question/29425/rospy-horrible-performance-with-sim_time/
  )
• if rtcd and collision_state.py run in different machine,
  collision_state.py is heavy but also othre nodes are heavy

Please check if CPU usage if rtcd decrease, when you kill
collision_state.py,

◉ Kei Okada

On Wed, Jul 29, 2015 at 12:01 PM, Ryohei Ueda [email protected]
wrote:

[image: screenshot_from_2015-07-29 12 00 27]
https://cloud.githubusercontent.com/assets/40454/8949060/77133c42-35e9-11e5-8c07-44c7bc6c611c.png

The top python is collision_state.py

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#782 (comment)
.

[garaemon]

so you're using everything in same machine without using /clock, that's
different than my use case.
Our situation is

• no /clock
• everything run in same machine

Please check if CPU usage if rtcd decrease, when you kill
collision_state.py,

• rtcd load slightly decreased when i killed collision_state.py but it's really small amount. (75 -> 73) It looks a noise.

also I'd like to know all command line arguments when you started
collsion_state.py

$ roslaunch jaxon_ros_bridge jaxon_ros_bridge.launch --args /collision_state
LANG=C SIMULATOR_NAME=RobotHardware0 ORBgiopMaxMsgSize=2147483648 /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/jsk_models/JAXON_RED/JAXON_REDmain.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=collision_state

[k-okada]

collisoin_state.py should output something like follows; I'd like to know
the number of collision state in your case.

[INFO] [WallTime: 1438238930.107318] check 4 collision status, 0.796812 Hz

◉ Kei Okada

On Wed, Jul 29, 2015 at 12:13 PM, Ryohei Ueda [email protected]
wrote:

so you're using everything in same machine without using /clock, that's
different than my use case.
Our situation is

• no /clock
• everything run in same machine

Please check if CPU usage if rtcd decrease, when you kill
collision_state.py,

• rtcd load slightly decreased when i killed collision_state.py but
  it's really small amount. (75 -> 73) It looks a noise.

  also I'd like to know all command line arguments when you started
  collsion_state.py

$ roslaunch jaxon_ros_bridge jaxon_ros_bridge.launch --args /collision_state
LANG=C SIMULATOR_NAME=RobotHardware0 ORBgiopMaxMsgSize=2147483648 /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/collision_state.py /home/leus/ros/hydro/src/rtm-ros-robotics/rtmros_hrp2/jsk_models/JAXON_RED/JAXON_REDmain.wrl -ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService __name:=collision_state

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#782 (comment)
.