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.

Hi

From what understand about launch file, <param> defined in <node> are private to that <node>. But the behaviour of my launch file doesn't look right to me. Here is the content of the launch file:

<arg name="num" default="2"/>                                 
<param name="~num_drones" value="$(arg num)"/>                

 <node name="A" pkg="drone_core" type="drone.py">             
     <param name="local_name_leaked" value="leaked"/>          
 </node>                                

 <node name="B" pkg="drone_simulator" type="sim.py">   
     <param name="local_name" value="debug"/>                  
 </node>

Here are what rosparam list returned for A and B

/A/local_name_leaked
/A/num_drones       
/B/local_name       
/B/local_name_leaked
/B/num_drones

So my question is, why would "local_name_leaked" show up under /B namespace?

I'm using Jade.

Thanks

===========================

Update 1

I've narrowed down the cause. I'm reposting the full launch file for clairty

<?xml version="1.0" encoding="utf-8"?>                          

<launch>                                                        

    <param name="~num_drones" value="2"/>                       
    <!--param name="num_drones_local" value="2"/-->             

    <node name="A" pkg="drone_core" type="drone.py">           
        <param name="local_name_leaked" value="leaked" />       
    </node>                                                     

    <node name="B" pkg="drone_simulator" type="sim.py"> 
      <param name="local_name" value="debug"/>                  
    </node>                                                     

</launch>

With this <param name="~num_drones" value="2"/>, I get:

PARAMETERS                      
 * /A/local_name_leaked: leaked 
 * /A/num_drones: 2             
 * /B/local_name: debug         
 * /B/local_name_leaked: leaked 
 * /B/num_drones: 2                   
 * /rosdistro: jade             
 * /rosversion: 1.11.21

With this <param name="num_drones_local" value="2"/> I get:

PARAMETERS                       
 * /A/local_name_leaked: leaked  
 * /B/local_name: debug          
 * /num_drones_local: 2          
 * /rosdistro: jade              
 * /rosversion: 1.11.21

Notice one has "~num_drones", one has "num_drones". I was assuming <param name="~num_drones" value="2"/> would create private param in any sub sequence declaration of <node> block. But is that allowed? It seems to do that, but also cause any parameter declared inside <node> block to "leak" to sub sequence <node> blocks.

gazebo and timer.py(rate.sleep) Hi I'm running yappi to profile the performance of my node written in python. The node

gazebo and timer.py(rate.sleep) Hi I'm running yappi to profile the performance of my node written in python. The node

gazebo and timer.py(rate.sleep) Hi I'm running yappi to profile the performance of my node written in python. The node

I've opened an issue: https://github.com/ros/ros_comm/issues/1334

private params in launch file Hi From what understand about launch file, <param> defined in <node> are priv

Because of character limits in reply box, I've updated the original post with my findings

private params in launch file Hi From what understand about launch file, <param> defined in <node> are priv

private params in launch file Hi From what understand about launch file, <param> defined in <node> are priv

Are you suggesting deb install gazebo2 and turtlebot + all dependency on indigo first. Then when i work on the other project on Jade, uninstall only gazebo2 package. Install Gazebo 5 on Jade. Then when i go back to Indigo again remove only Gazebo5 and install Gazebo 2?

I'm aware of the default support Gazebo version. Unfortunately I'm working on both projects at the same time, and most like require to use Gazebo on both.

I ended up installing packages from source. http://answers.ros.org/question/20896... Things are installed, but I haven't tried interacting with the hardware yet using these packages yet.

First turtlebot_simulator, and kobuki_desktop from source http://wiki.ros.org/turtlebot_simulat... , http://wiki.ros.org/kobuki_desktop

Then the rest from source: http://wiki.ros.org/turtlebot/Tutoria... (without the first step these install from source would still complain about missing/unable to install packages depending on gazebo2)

(Note: For some reason I would get multiple package with same name errors during rosdep install at the second step. I had to manually remove the duplicates.)

I'm on Ubuntu 14.04.

I have Jade with default Gazebo (5) installed for a course I'm taking. Then my other course requires Indigo. So I installed Indigo as second ROS on my system and this is where my problem begins.This is my steps:

1. I installed ros-indigo-desktop.
2. Since I already have Gazebo 5, I only installed ros-indigo-gazebo5-ros-pkgs following this link http://gazebosim.org/tutorials/?tut=r...

Everything seems fine. Then I moved on to installing turtlebot. http://wiki.ros.org/turtlebot/Tutoria...

1. Then I can't install ros-indigo-turtlebot-simulator,
2. because ros-indigo-turtlebot-simulator can't be installed
3. because ros-indigo-turtlebot-simulator can't be installed, which looks for gazebo2

Is there a way to resolve this dependency issue? I don't have to use gazebo 5 on Indigo, but I can't install ros-indigo-desktop-full due to Gazebo 5 on Jade.

Thanks

UPDATE I ended up installing packages from source. http://answers.ros.org/question/20896... Things are installed, but I haven't tried interacting with the hardware yet using these packages yet.

First turtlebot_simulator, and kobuki_desktop from source http://wiki.ros.org/turtlebot_simulat... , http://wiki.ros.org/kobuki_desktop

Then the rest from source: http://wiki.ros.org/turtlebot/Tutoria... (without the first step these install from source would still complain about missing/unable to install packages depending on gazebo2)

(Note: For some reason I would get multiple package with same name errors during rosdep install at the second step. I had to manually remove the duplicates.)

UPDATE 2 I'm having problem with moving Indigo turtlebot in Gazebo5. its almost as if it doesn't move. If I hold the move key on turtlebot_telop long enough, I could see the displacement. I might stop pursuing this matter and consider suggestions below