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: 19.601371 to 302.168316 ReadySendJoints(): 2196 calls 0.501699 ms avg 0.382626 ms exp.avg 0.002823 ms avg child time (0.500000%) 128.243160 ms avg inter (7.797687 fps) 127.816780 ms exp.avg (7.823699 fps) Exec: 0 0 1752 442 0 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 1 2 0 0 0 0 0 0 1775 415 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotAudio(): 8770 calls 1.452230 ms avg 1.588324 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.079751 ms avg inter (31.172312 fps) 31.765759 ms exp.avg (31.480438 fps) Exec: 0 0 1561 6975 234 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 1 3 7019 1744 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PowerEvent(): 28 calls 25.999857 ms avg 9.176179 ms exp.avg 0.000000 ms avg child time (0.000000%) 9507.409464 ms avg inter (0.105181 fps) 11222.237305 ms exp.avg (0.089109 fps) Exec: 0 1 25 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 0 Inter: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 11 0 0 0 2 0 2 0 3 0 8 GotImage(): 6995 calls 10.231059 ms avg 10.102356 ms exp.avg 8.278227 ms avg child time (80.900000%) 40.127059 ms avg inter (24.920839 fps) 39.834362 ms exp.avg (25.103954 fps) Exec: 0 0 0 8 0 5222 1765 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 2 0 495 6496 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(): 6992 calls 8.281850 ms avg 8.298972 ms exp.avg 7.460258 ms avg child time (90.000000%) 40.058718 ms avg inter (24.963355 fps) 39.874828 ms exp.avg (25.078478 fps) Exec: 3 1 1 0 0 6720 267 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 4 0 0 0 0 1 422 6564 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(...): 6987 calls 7.465592 ms avg 7.413508 ms exp.avg 5.035603 ms avg child time (67.400000%) 40.098317 ms avg inter (24.938702 fps) 39.838959 ms exp.avg (25.101057 fps) Exec: 0 0 0 0 308 6610 69 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 0 425 6561 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(...): 6987 calls 5.035603 ms avg 4.955937 ms exp.avg 3.180999 ms avg child time (63.100000%) 40.099044 ms avg inter (24.938250 fps) 39.860821 ms exp.avg (25.087290 fps) Exec: 0 0 0 0 5068 1918 1 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 0 426 6560 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(...): 6987 calls 3.180999 ms avg 3.186928 ms exp.avg 0.071209 ms avg child time (2.200000%) 40.095975 ms avg inter (24.940159 fps) 39.861107 ms exp.avg (25.087112 fps) Exec: 0 0 0 0 6981 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 Inter: 0 0 0 0 0 0 0 426 6560 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(...): 20961 calls 0.023736 ms avg 0.007952 ms exp.avg 0.000000 ms avg child time (0.000000%) 13.355915 ms avg inter (74.873191 fps) 11.085652 ms exp.avg (90.206688 fps) Exec: 13352 6979 576 54 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 13001 884 89 0 0 0 427 6559 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: 19.987377 to 302.180477 ReadySendJoints(): 8786 calls 2.196028 ms avg 2.123986 ms exp.avg 0.000587 ms avg child time (0.000000%) 32.048916 ms avg inter (31.202303 fps) 31.944227 ms exp.avg (31.304562 fps) Exec: 0 0 0 5320 3449 3 0 0 0 13 1 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 8759 6 14 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotSensorFrame(): 8796 calls 2.142896 ms avg 2.200585 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.006505 ms avg inter (31.243649 fps) 31.908367 ms exp.avg (31.339743 fps) Exec: 0 0 0 6265 2527 2 0 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 Inter: 0 0 0 2 6 10 9 8747 7 8 6 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, ~~~ Sound: ~~~ Profiling information since: 19.579342 to 302.184884 doSendSound(): 50 calls 1.139560 ms avg 1.494666 ms exp.avg 0.031040 ms avg child time (2.700000%) 5634.143620 ms avg inter (0.177489 fps) 35649.140625 ms exp.avg (0.028051 fps) Exec: 2 1 12 30 5 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 0 0 1 0 1 41 3 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 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,