ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
how to know which cores are my nodes using ?
This is decided by your operating system, and usually the cpu cores change from one second to the next. So this is not really a useful question.
If you are trying to compare the behavior of SingleThreadedExecutor to MultiThreadedExecutor, and determine the number of threads that exist for a particular linux process, then (on linux) you can use the /bin/ps
command. If the Process Id (PID) of your ros node is 29969, then:
$ /bin/ps -p 29969 -L -f
UID PID PPID LWP C NLWP STIME TTY TIME CMD
mike 29969 2820 29969 0 3 07:24 pts/0 00:00:00 /usr/bin/python /opt/ros/melodi
mike 29969 2820 29990 0 3 07:24 pts/0 00:00:00 /usr/bin/python /opt/ros/melodi
mike 29969 2820 29991 0 3 07:24 pts/0 00:00:00 /usr/bin/python /opt/ros/melodi
Process 29969 is running 3 threads (the main thread, plus 2 more.)