gazebo and timer.py(rate.sleep)
Hi
I'm running yappi to profile the performance of my node written in python.
The node has:
- 3 timers for controller loops. (2 at 500Hz and 1 at 100Hz)
- 2 publisher (60Hz for /gazebo/set_model_state and 100Hz)
- 2 subscriber
When Gazebo is not running, the profiler shows 35.15% time is spent on Rate.sleep()
When Gazebo is running, the profiler shows 46.92% time is spent on Rate.sleep(). In particular, 16.06% is spent on _Condition.wait from threading.py, which doesn't not show up in previous scenario. Nothing change even when I comment out any code related to publishing /gazebo/set_model_state.
I also notice when Gazebo is running, my node that usually takes up ~50% CPU now runs at ~100%. Also the controller loops don't seem to be running on time.
Question is why my node impacted by Gazebo? I should also mention that because I want to run yappi, I'm not using rosrun to launch the node.
