First of all, also Syskit uses orocos.rb to "handle" the components.
The ONLY think afaik syskit does ontop on your scripts is creating a
read-task for each "state" port of your components.
I see no difference otherwise.
A load of 2.0 for CPUs is really tight, i still assume you are simply on
the system limits. You could/should try the RT-patched kernel and use
realtime for your aria task.
Matthias
On 17.12.2013 20:07, Christian Rauch wrote:
Hi,
thanks so far for the comments.
* bundles vs. orocos.rb:
I attached two scripts which start aria and two camera_ids via:
a) the orocos.rb API (run_via_orocos.rb)
b) the bundle (run_via_bundle.rb)
Running 'run_via_orocos' for 15 minutes on the robot, no warnings
appear; running 'run_via_bundle' these warnings appear within 2 minutes.
The load (1min avg) is between 1.5 and 2.0 (2 CPUs).
Monitoring both CPUs remotely via ksysguard, one can see that both
CPUs have high loads up to 100% around the same time. If I run via
bundles, both CPUs might have their maximum load at the same time and
this is when a delay occurs. There are no delays with running via
orocos.rb when CPUs have maximum load at the same time.
For testing purposes: Is it possible to let syskit use deployments
started outside of syskit (e.g. in a bash) by telling syskit which
tasks to use by just giving the task names under which they were
registered at corba?
* for the camera_ids issue:
The updateHook of the camera_ids triggers itself when a new frame is
available (or receives a timeout):
{{{
if(mIsFrame && getFrame()) {
[...]
}
mIsFrame = false;
if (cam_interface->isFrameAvailable()) {
mIsFrame = true;
this->getActivity()->trigger();
} else {
RTT::log(RTT::Error) << "No frame received during timeout
period." << RTT::endlog();
report(TIMEOUT_ERROR);
}
}}}
But this issue is not only related to the camera. In previous runs of
corridor servoing (no cameras started; but Hokuyo, Dynamixel, Xsens)
the same Warnings appear.
Regards,
Christian
Am 17.12.2013 11:56, schrieb Matthias Goldhoorn:
ah okay,
but btw.
you mentioned that the tasks are not within the same deployment.
the only Linux in responsible (if they are periodic) for the execution.
Try to start everything with run scripts (including logger) and with the
same-policy. You will get the same behavior like in syskit's start up.
So solve the issue try to use the solution Alex mentioned, if the camera
would take too long to acquire the images.
BUT i assume still you have a too high load on your system. Maybe you
have some high-speed sensors and sensor fusion components NOT within the
same deployment which leads into your problems.
Maybe there are ways to influence the system behavior, but for this you
need to identify the components that took your power.
You could use the task-scheduler, i added a new option for this to debug
execution times of tasks.
Summarize:
- make sure all high-speed sensor data within one deployment
- separate processing components from this base chain
- increase priority for important tasks
- take a look on the system LOAD (not only the most-consuming component)
- debug components with the scheduler (or any way you prefer)
- Make sure no TCP connection is active (Use MQueues instead of corba,
don't use the Task-inspector while debugging)
Matthias
On 17.12.2013 11:14, Elmar Berghöfer wrote:
Hi,
Am 17.12.2013 11:08, schrieb Matthias Goldhoorn:
On 17.12.2013 11:07, Elmar Berghöfer wrote:
No it just was a replacement of the on-board robot PC by the laptop
to make clear that it has nothing to do with performance of the
on-board pc.
Who does the serial interface to the robot in this case. I assume
- Laptop -> camera started
- Onboard-PC Serial interface for seekuhr
no - Laptop -> connected to Robot controller (via usb-serial
converter).
Onboard PC not used in this scenario.
Test should just figure out if the "quite" low performance of the
on-board pc (even if theoretically should already be enough) is an
issue or not.
The Lapptop System has much more performance than the on-board pc.
Regards
Elmar
Right, and there you got the same scheduling problems?
Matthias
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--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
Besuchsadresse der Nebengeschäftstelle:
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
Empfang: +49 421 178 45-6600
Fax: +49 421 178 45-4150
E-Mail:[email protected]
Weitere Informationen:http://www.informatik.uni-bremen.de/robotik
_______________________________________________
Rock-dev mailing list
[email protected]
http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
Besuchsadresse der Nebengeschäftstelle:
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
Empfang: +49 421 178 45-6600
Fax: +49 421 178 45-4150
E-Mail: [email protected]
Weitere Informationen: http://www.informatik.uni-bremen.de/robotik
_______________________________________________
Rock-dev mailing list
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http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
