MoveIt CPU / Memory requirements

[Shawn Schaerer]

Hi,

Anybody know what the minimum requirements are for CPU and memory?  I would like to plan and execute trajectories on a robot using MoveIts planners and the Descartes planner.

I am investigating the use of smaller ARM systems for our ROS robot.

Any feedback would be much appreciated.

Shawn

[Peter Heim]

Hi Shawn

After a computer crash I ran the robot on a few different setups

laptop pentium M

was very slow running pick and place mostly it would just crash pick and place only worked once but it was nice and slow when I tried using moveit on a remote laptop (I7 8g ram) I had a lot of timing issues

Laptop celron 4g ram

the 2 cores were peg at 90 to 100 % most of the time. pick and place took about 10 minutes to complete but the system was not stable and prone to hanging.

 running moveit on the remote laptop still cause timing issues and offered no improvement in performance

Laptop I7 8g ram

worked as well as the I3 in pick and place but having only 3 usb ports caused problems the kinects wont work on the usb 3 port, also the arduinos had reset issues on the usb 3 port using powered hubs was a vast improvement but the adruino Due was still very flaky on the usb3 port

I3 atx mother board 6G ram

4 cores run at 20 to 60 % system is stable, remote laptop still has timing issues but not as bad mostly streaming data from 2 kinects

regards

Peter

[Shawn Schaerer]

Thanks Peter,

So you were running kinects on the laptops?  in my application I do not want to run vision on the ARM processor just planning and joint controllers.

Shawn

[Shawn Schaerer]

I did some quick tests on a Beaglebone Black and the results were not so good.

Planning took 150 seconds for a simple move and consumed 43.3% CPU and 30% of its memory.  My feeling is that Planning will need to run on an intel system.  I am going to test on higher performance ARM CPUs  (Qualcomm Snapdragon) 410.

The same test on my core 2 quad takes a couple of seconds to complete.

Shawn