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Disable core affinity in ValkyrieAffinity when running in Gazebo environment #99

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dljsjr opened this issue Nov 8, 2016 · 10 comments
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Disable core affinity in ValkyrieAffinity when running in Gazebo environment #99

dljsjr opened this issue Nov 8, 2016 · 10 comments
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@dljsjr
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enhancement major platform-valkyrie

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@dljsjr
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dljsjr commented Nov 8, 2016 •
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Required Info
Version or commit hash 0.8.0
Sim or Real Robot Valkyrie in Gazebo/SRCSim
Operating System Ubuntu 14.04
JDK N/A

When running Val in Gazebo, core isolation is not needed because we run in lockstep with the physics loop. It's reasonable to assume that developers won't be using machines that line up with what the real robot hardware looks like. At least one person has run in to a launch problem where they cannot run the simulation software on a 2 physical core computer.

We should use the parameterization added in 292a659 to parameterize ValkyrieAffinity to avoid this.

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@dljsjr
@dljsjr dljsjr self-assigned this Nov 8, 2016
@eschulma
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I can confirm that more than one person has this problem.

dljsjr pushed a commit that referenced this issue Nov 10, 2016
Parameterize ValkyrieAffinity based on whether or not the controller …
d501c88 
…is running in Gazebo.

See: #99
dljsjr pushed a commit that referenced this issue Nov 10, 2016
Don't build up affinity information if setAffinity is false.
55992fc 
See: #99
@dljsjr
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dljsjr commented Nov 10, 2016

@eschulma If the build and test suites for these changes pass, they should make it in to a release of our software over the weekend. We'll work w/ OSRF to get this release integrated in to SRCSim next week ASAP.

cc @scpeters

@scpeters
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I assume you mean using the IS_GAZEBO variable? Sounds good to me. I expect it would only require redeploying the valkyrie controller? I can try deploying it from a branch when one is ready then uploading a new valkyrie_controller.tar.gz file.

@dljsjr
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dljsjr commented Nov 10, 2016

Correct you should only need to redeploy the controller once the release is available.

@theredcomputer
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Thank you for working to get this rectified so quickly! Will this issue be resolved sometime this coming week?

@eschulma
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I am also interested in the release status of this -- thanks. Short of buying a new computer, I can't help my team right now.

@dan9thsense
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Standing by for this release, gone as far as I can with two cores............

dljsjr pushed a commit that referenced this issue Nov 25, 2016
Parameterize ValkyrieAffinity based on whether or not the controller …
bbbe35f 
…is running in Gazebo.

See: #99

(cherry picked from commit d501c88)
dljsjr pushed a commit that referenced this issue Nov 25, 2016
Don't build up affinity information if setAffinity is false.
cbccbef 
See: #99

(cherry picked from commit 55992fc)
@dan9thsense
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dan9thsense commented Nov 29, 2016 •
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Excellent! Thanks for this fix. Should we re-install with these changes or change the build locally? What is the best way to install these changes over an existing build?

@nmertins
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I'm currently writing up a tutorial for how to apply these changes to an existing build. Should be done by the end of the day.

@scpeters
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I just uploaded a new valkyrie_controller.tar.gz (step 10 in installation instructions), so please delete the ~/valkyrie folder and download the new one and extract it in its place. This should fix the issues with dual-core CPU's.

@dljsjr dljsjr closed this as completed Jan 11, 2017
dljsjr pushed a commit that referenced this issue Feb 8, 2017
@rjgriffin42
Merge pull request #99 in ROB/ihmc-open-robotics-software from featur…
0c69019 
…e/icp_optimization_cleanup to develop

* commit '8bd250bd571e81b452e611ea10ff9ab6269b0a47': (33 commits)
  cleaned up more stuff
  removed the old multiplier calculation
  fixed the remaining icp optimization tests
  finished fleshing out all the multipliers for the different states
  expanded the functionality of the recursion multipliers to include one cmp
  fixed a bug with calculation of some of the current projection multipliers
  started fixing the reconstruction of the icp trajectory
  started using the time in the current state rather than the remaining time
  got it mostly walking with the new parameters
  fixed a major bug with the new ICP optimization in single support
  finished out the tests of the multiplier
  started improving a lot of the tests
  added a bunch of unit tests
  added a bunch more test scripts for the new state matrices
  started adding more tests
  got it computing the final ICP location correctly
  set up the new calculator
  finished first draft of new multipliers
  setup the recursion multipliers
  started overhauled the multipliers calculation, and the way we get reference points
  ...
This was referenced May 2, 2020
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@dljsjr @dan9thsense @eschulma @scpeters @nmertins @theredcomputer