I tested the entire simulation on both a VMware virtual machine running Ubuntu 20.04 with ROS Noetic and a clean Ubuntu 24.04 with ROS2 Jazzy. The Spirit quadruped robot was used to perform trajectory tracking tasks in two simulation environments. Contrary to intuition, the single-step NMPC solution time only take 1-2ms on a performance-constrained virtual machine, as shown in the first image below.
However, on a clean Ubuntu 24.04 + ROS Jazzy environment, it takes more than 6ms. Both use the same IPOPT version 3.14.19 and the same coinhsl. Even replacing the ma27 with the ma57 doesn't significantly change the solution time in either simulation environment. Both simulation environments use Intel® Core™ i7-14700F processors and 32Gb of RAM as their underlying hardware. This is very strange.
I tested the entire simulation on both a VMware virtual machine running Ubuntu 20.04 with ROS Noetic and a clean Ubuntu 24.04 with ROS2 Jazzy. The Spirit quadruped robot was used to perform trajectory tracking tasks in two simulation environments. Contrary to intuition, the single-step NMPC solution time only take 1-2ms on a performance-constrained virtual machine, as shown in the first image below.
However, on a clean Ubuntu 24.04 + ROS Jazzy environment, it takes more than 6ms. Both use the same IPOPT version
3.14.19and the samecoinhsl. Even replacing thema27with thema57doesn't significantly change the solution time in either simulation environment. Both simulation environments use Intel® Core™ i7-14700F processors and 32Gb of RAM as their underlying hardware. This is very strange.