Skip to content

Commit

Permalink
Merge pull request #2555 from JdeRobot/issue-2547
Browse files Browse the repository at this point in the history 
Issue 2547
  • Loading branch information
@jmplaza
jmplaza authored Jun 6, 2024
2 parents a64582b + 442b533 commit 89ac4f4
Showing 1 changed file with 55 additions and 19 deletions.
74 changes: 55 additions & 19 deletions _pages/user_guide.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -142,40 +142,76 @@ For Windows machines, GPU acceleration to Docker can be implemented with WSL2 as
# 4. Reference execution times
In this section, various cost tables will be provided showing the cost of each RADI exercise on different PCs, both running without graphics acceleration and with graphics acceleration. The values collected will include the % of CPU usage, if running with graphics acceleration, the % of GPU usage, the RTF, and the FPS of Gazebo.


| MAC | Follow Line | Vacuum Cleaner | Autoparking | Follow Person | Localized Vacuum Cleaner | Global Navigation | Rescue People | Obstacle Avoidance | 3D Reconstruction | Amazon Warehouse | Montecarlo Laser Localized |
|------------------|-------------|----------------|-------------|---------------|--------------------------|-------------------|----------------|---------------------|---------------------|------------------|--------------------------|
| % CPU | 620% | 400% | 530% | 650% | 500% | 650% | - | 600% | 550% | 660% | 500% |
| RTF | 0.57 | 0.5 | 0.47 | 0.78 | 0.45 | 0.6 | - | 0.57 | 0.46 | 0.37 | 0.44 |
| Gazebo's FPS | 20 | 15 | 5 | 13 | 20 | 10 | - | 3 | 4 | 3 | 18 |
- CPU: 8 cores (Percentage up to 800%)
- Mac Chip: M1

---

| WINDOWS | Follow Line | Vacuum Cleaner | Autoparking | Follow Person | Localized Vacuum Cleaner | Global Navigation | Rescue People | Obstacle Avoidance | 3D Reconstruction | Amazon Warehouse | Montecarlo Laser Localized |
|------------------|-------------|----------------|-------------|---------------|--------------------------|-------------------|----------------|---------------------|---------------------|------------------|--------------------------|
| % CPU | 79% | 74% | 77% | 79% | 77% | 78% | 79% | 80% | 79% | 79% | 76% |
| RTF | 0.13 | 0.89 | 0.8 | 0.68 | 0.8 | 0.73 | 0.59 | 0.29 | 0.56 | 0.56 | 0.8 |
| Gazebo's FPS | 3 | 7 | 3 | 4 | 7 | 7 | 5 | 3 | 3 | 2 | 9 |
| MacOS | % CPU | Gazebo's RTF | Gazebo's FPS |
|----------------------|-------|------|--------------|
| Follow Line | 620% | 0.57 | 20 |
| Vacuum Cleaner | 400% | 0.5 | 15 |
| Autoparking | 530% | 0.47 | 5 |
| Follow Person | 650% | 0.78 | 13 |
| Localized Vacuum Cleaner | 500% | 0.45 | 20 |
| Global Navigation | 650% | 0.6 | 10 |
| Rescue People | - | - | - |
| Obstacle Avoidance | 600% | 0.57 | 3 |
| 3D Reconstruction | 550% | 0.46 | 4 |
| Amazon Warehouse | 660% | 0.37 | 3 |
| Montecarlo Laser Localized | 500% | 0.44 | 18 |


<br>
<div style="border-bottom: 3px solid gray;"></div>
<br>

- CPU: 6 cores (Average Percentages up to 100%)
- CPU: Intel Core i5
- 16GB RAM
- Windows: 64 bits

---

| WINDOWS | Follow Line | Vacuum Cleaner | Autoparking | Follow Person | Localized Vacuum Cleaner | Global Navigation | Rescue People | Obstacle Avoidance | 3D Reconstruction | Amazon Warehouse | Montecarlo Laser Localized |
|------------------|-------------|----------------|-------------|---------------|--------------------------|-------------------|----------------|---------------------|---------------------|------------------|--------------------------|
| % CPU | 72% | 52% | 61% | 66% | 66% | 68% | 72% | 73% | 76% | 79% | 63% |
| % GPU | 5% | 6% | 9% | 5% | 7% | 6% | 10% | 4% | 9% | 4% | 17% |
| RTF | 0.5 | 0.95 | 0.85 | 0.95 | 0.95 | 0.8 | 0.6 | 0.5 | 0.7 | 0.74 | 0.9 |
| Gazebo's FPS | 16 | 11 | 7 | 20 | 20 | 11 | 15 | 6 | 9 | 5 | 18 |
| Windows | % CPU | Gazebo's RTF | Gazebo's FPS |
|----------------------|-------|------|--------------|
| Follow Line | 79% | 0.13 | 3 |
| Vacuum Cleaner | 74% | 0.89 | 7 |
| Autoparking | 77% | 0.8 | 3 |
| Follow Person | 79% | 0.68 | 4 |
| Localized Vacuum Cleaner | 77% | 0.8 | 7 |
| Global Navigation | 78% | 0.73 | 7 |
| Rescue People | 79% | 0.59 | 5 |
| Obstacle Avoidance | 80% | 0.29 | 3 |
| 3D Reconstruction | 79% | 0.56 | 3 |
| Amazon Warehouse | 79% | 0.56 | 2 |
| Montecarlo Laser Localized | 76% | 0.8 | 9 |


<br>
<div style="border-bottom: 3px solid gray;"></div>
<br>

- CPU: 6 cores (Average Percentages up to 100%)
- CPU: Intel Core i5
- 16GB RAM
- Windows: 64 bits
- GPU: NVIDIA GeForce GTX 1660


| Windows | % CPU | % GPU | Gazebo's RTF | Gazebo's FPS |
|----------------------|-------|-------|------|--------------|
| Follow Line | 72% | 5% | 0.5 | 16 |
| Vacuum Cleaner | 52% | 6% | 0.95 | 11 |
| Autoparking | 61% | 9% | 0.85 | 7 |
| Follow Person | 66% | 5% | 0.95 | 20 |
| Localized Vacuum Cleaner | 66% | 7% | 0.95 | 20 |
| Global Navigation | 68% | 6% | 0.8 | 11 |
| Rescue People | 72% | 10% | 0.6 | 15 |
| Obstacle Avoidance | 73% | 4% | 0.5 | 6 |
| 3D Reconstruction | 76% | 9% | 0.7 | 9 |
| Amazon Warehouse | 79% | 4% | 0.74 | 5 |
| Montecarlo Laser Localized | 63% | 17% | 0.9 | 18 |



# 5. Troubleshooting

0 comments on commit 89ac4f4

Please sign in to comment.