Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

ROS Time vs Wall time

timers

asked 2015-06-11 10:50:40 -0600

Javier V. Gómez

1295 ●17 ●41 ●54 http://jvgomez.github.io/

After a long simulation, I have realized with RViz that these two times do not match. While the ROS Elapsed time is 1700 seconds, the Wall Elapsed time is around 3630. I would understand it if my simulation was slow or something, but RViz is running at 30FPS, I am not using Gazebo GUI, and the only 3 out of 8 CPUSs (real CPUs) are at 100%, while the others are between 30%-60%. And only 3.7/7.7 GB RAM are used.

Where does that time difference comes from then?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-06-11 11:07:25 -0600

dornhege

31395 ●134 ●284 ●498

The simple answer is: Because the simulation is running slower than realtime.

RViz, etc. does have nothing to do with that besides hogging CPU load.

edit flag offensive delete link

Comments

Thank you for your reply. Is there any way of speeding up simulation in gazebo_ros?

Javier V. Gómez ( 2015-06-11 11:30:57 -0600 )edit

Hi @Javier V. Gómez , I don't know if you are still interested but you can speed up gazebo simulations acting on the Real Time factor from the GUI or changing values in the .world file.

You can find a good description about how it works here.

pulver ( 2021-01-29 04:51:26 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2015-06-11 10:50:40 -0600

Seen: 3,801 times

Last updated: Jun 11 '15

ROS Time vs Wall time edit

1 Answer

Comments

Question Tools

Stats

Related questions

ROS Time vs Wall time