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ROS Time vs Wall time

asked 2015-06-11 10:50:40 -0500

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?

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answered 2015-06-11 11:07:25 -0500

dornhege gravatar image

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.

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

Javier V. Gómez gravatar imageJavier V. Gómez ( 2015-06-11 11:30:57 -0500 )edit

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Asked: 2015-06-11 10:50:40 -0500

Seen: 1,362 times

Last updated: Jun 11 '15