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A Case Study on the Performance of Gazebo with Multi-core CPUs

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

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Abstract

Gazebo has become a popular platform for the simulation of robots and their working environment. However, it is inefficient as the number of robots increases or when the environment becomes more complex. In this paper, we investigate the program hotspot (the most time consuming program units) of two typical cases using the Intel VTune Amplifier. The results show that the simulation time increases quadratically with respect to the number of robots in the swarm robots scenario, and increases linearly as the complexity of environment becomes higher in the large-scale campus scenario.

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Authors and Affiliations

  1. State Key Laboratory of High Performance Computing, School of Computer, National University of Defense Technology, Changsha, 410073, Hunan, China

    Hai Yang & Xuefei Wang

Authors
  1. Hai Yang
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  2. Xuefei Wang
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Corresponding author

Correspondence to Hai Yang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Yang, H., Wang, X. (2017). A Case Study on the Performance of Gazebo with Multi-core CPUs. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_63

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  • DOI: https://doi.org/10.1007/978-3-319-65289-4_63

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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