Setup: Default build for ERS-2xx (TGT_ERS2xx) Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) Connect ControllerGUI STARTUP script: Launch StareAtBallBehavior (leave E-Stop ON) Navigate to Status Reports -> Profiler Wait until 5 minutes from initial press of power button. Recorded profiler run shown below ~~~ Main: ~~~ Profiling information since: 20.017258 to 298.081804 PowerEvent(): 43 calls 0.640907 ms avg 0.573827 ms exp.avg 0.000000 ms avg child time (0.000000%) 6351.275000 ms avg inter (0.157449 fps) 4556.783203 ms exp.avg (0.219453 fps) Exec: 0 0 34 9 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 0 0 0 0 0 0 0 6 0 0 0 0 0 0 6 13 0 0 2 3 0 2 0 1 0 9 ReadySendJoints(): 2145 calls 0.234554 ms avg 0.225274 ms exp.avg 0.000397 ms avg child time (0.100000%) 128.180394 ms avg inter (7.801505 fps) 127.839653 ms exp.avg (7.822299 fps) Exec: 0 1 2138 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 1 1 1 0 0 0 0 0 0 2137 2 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotSensorFrame(): 8562 calls 0.852145 ms avg 0.779630 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.096237 ms avg inter (31.156300 fps) 32.131828 ms exp.avg (31.121790 fps) Exec: 0 0 3803 4757 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 236 6616 1707 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotAudio(): 8563 calls 0.566174 ms avg 0.531842 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.003073 ms avg inter (31.247000 fps) 31.828907 ms exp.avg (31.417982 fps) Exec: 0 0 6399 2162 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 1 2 2 8299 257 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotImage(): 6830 calls 11.044044 ms avg 11.072465 ms exp.avg 9.216365 ms avg child time (83.400000%) 40.105989 ms avg inter (24.933932 fps) 40.057293 ms exp.avg (24.964243 fps) Exec: 0 0 8 4 0 3435 3383 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 1 1 2 1 6823 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 BallDetection::processEvent(): 6821 calls 9.229060 ms avg 9.394281 ms exp.avg 8.543098 ms avg child time (92.500000%) 40.072579 ms avg inter (24.954720 fps) 40.041733 ms exp.avg (24.973944 fps) Exec: 0 2 0 0 1 6801 17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 1 0 0 1 0 3 1 6814 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 RegionGenerator::calcImage(...): 6818 calls 8.546857 ms avg 8.688643 ms exp.avg 4.538367 ms avg child time (53.000000%) 40.100872 ms avg inter (24.937114 fps) 40.054451 ms exp.avg (24.966015 fps) Exec: 0 0 0 0 0 6808 10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 2 1 6814 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 RLEGenerator::calcImage(...): 6818 calls 4.538367 ms avg 4.572154 ms exp.avg 2.800123 ms avg child time (61.600000%) 40.100877 ms avg inter (24.937111 fps) 40.054607 ms exp.avg (24.965916 fps) Exec: 0 0 0 0 5103 1715 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 2 1 6814 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SegmentedColorGenerator::calcImage(...): 6818 calls 2.800123 ms avg 2.824836 ms exp.avg 0.028903 ms avg child time (1.000000%) 40.100781 ms avg inter (24.937170 fps) 40.054451 ms exp.avg (24.966015 fps) Exec: 0 0 0 0 6816 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 2 1 6814 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 RawCameraGenerator::calcImage(...): 20454 calls 0.009634 ms avg 0.007774 ms exp.avg 0.000000 ms avg child time (0.000000%) 13.362485 ms avg inter (74.836381 fps) 11.286345 ms exp.avg (88.602638 fps) Exec: 13366 6976 108 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 13405 229 2 0 0 2 1 6814 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bucket distribution (in ms): 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, ~~~ Motion: ~~~ Profiling information since: 20.017359 to 298.090260 ReadySendJoints(): 8574 calls 1.911137 ms avg 1.728524 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.055326 ms avg inter (31.196064 fps) 31.852037 ms exp.avg (31.395166 fps) Exec: 0 0 0 7539 1015 3 0 0 0 17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 0 8556 0 17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bucket distribution (in ms): 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, : 0 13405 229 2 0 0 2 1 6814 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bucket distribution (in ms): 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, ~~~ Motion: ~~~ Profiling information since: 20.017359 to 298.090260 ReadySendJoints(): 8574 calls 1.911137 ms avg 1.728524 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.055326 ms avg inter (31.196064 fps) 31.852037 ms exp.avg (31.395166 fps) Exec: 0 0 0 7539 1015 3 0 0 0 17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Inter: 0 0 0 0 0 0 0 8556 0 17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bucket distribution (in ms): 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04,