Skip to main content
Version: 8

Performance Troubleshooting

MoveIt Pro Example Workspace Camera Streams are laggy​

Problem: When I run a MoveIt Pro example robot config, such as lab_sim, I see that the camera streams in the UI visualizer are choppy or unperformant.

Solution: Ensure that you have the proper "Hardware acceleration" setting enabled for your browser by going to the link below

tip

For NVIDIA GPU users, please see our NVIDIA setup guide to enable GPU Acceleration inside the MoveIt Pro docker container

Problem: Even with hardware acceleration enabled, things still don't look smooth for the camera streams in an example robot config.

Solution: You can remove the camera streams to improve performance in MoveIt Pro if your computer is unable to handle it by:

  1. edit lab_sim/description/scene.xml and comment or remove the camera block lines
  2. edit lab_sim/description/picknik_ur.xacro and change the render_publish_rate to 0:
<param name="render_publish_rate">0</param>

MoveIt Pro build takes a long time or hangs, locking up my CPU​

Problem: When I moveit_pro build a large workspace, my computer starts to lock up.

Solution: There are three possible solutions that can help improve the build performance of a large workspace:

One) (Recommended) On your host, enable RAM compression. This uses more CPU cycles, but that is generally what gets you into trouble with dev computers these days - the RAM can't keep up with the CPU. You can setup a larger swap file with zram.

sudo apt-get install zram-config

If the first solution doesn't work for you:

Two) Reduce the number of threads (the number following -j) cmake instructs the compiler to use:

export MAKEFLAGS=-j1
moveit_pro build

Three) Reduce the number of parallel packages built at a time:

moveit_pro build user_workspace --colcon-args "--parallel-workers 1"
tip

If you know the greedy package(s), you can get really fancy and chain commands together to only slow down the build during that package:

moveit_pro build user_workspace --colcon-args "--packages-up-to GREEDY_PACKAGE" &&
export MAKEFLAGS=-j1 &&
moveit_pro build user_workspace --colcon-args "--packages-select GREEDY_PACKAGE" &&
export MAKEFLAGS=-j$(nproc) &&
moveit_pro build user_workspace