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: 19.905465 to 298.074142 PowerEvent(): 52 calls 0.447615 ms avg 0.277876 ms exp.avg 0.000000 ms avg child time (0.000000%) 5190.932231 ms avg inter (0.192644 fps) 4572.906738 ms exp.avg (0.218679 fps) Exec: 0 0 49 2 0 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 0 Inter: 0 0 0 0 0 0 0 0 0 0 0 1 0 8 0 0 0 0 0 0 5 13 0 0 1 4 0 5 0 3 0 11 ReadySendJoints(): 2160 calls 1.049186 ms avg 0.944754 ms exp.avg 0.001409 ms avg child time (0.100000%) 128.276519 ms avg inter (7.795659 fps) 127.686737 ms exp.avg (7.831667 fps) Exec: 0 0 649 1496 14 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 0 Inter: 0 0 0 1 1 0 0 1 0 0 1745 409 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotAudio(): 8625 calls 0.347871 ms avg 0.338311 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.108230 ms avg inter (31.144663 fps) 31.832664 ms exp.avg (31.414272 fps) Exec: 0 0 7877 746 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 0 0 5 8611 6 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotImage(): 6881 calls 14.496140 ms avg 15.426720 ms exp.avg 11.493344 ms avg child time (79.200000%) 40.161593 ms avg inter (24.899411 fps) 39.932194 ms exp.avg (25.042450 fps) Exec: 0 0 1 17 3 2001 4858 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 Inter: 0 0 0 0 0 0 3 12 6864 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 BallDetection::processEvent(): 6865 calls 11.520323 ms avg 12.491241 ms exp.avg 9.596301 ms avg child time (83.200000%) 40.066053 ms avg inter (24.958785 fps) 39.959042 ms exp.avg (25.025623 fps) Exec: 3 1 0 1 0 5000 1860 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 3 1 0 0 0 1 11 6848 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(...): 6860 calls 9.603292 ms avg 10.349340 ms exp.avg 6.004879 ms avg child time (62.500000%) 40.096281 ms avg inter (24.939969 fps) 39.964394 ms exp.avg (25.022274 fps) Exec: 0 0 0 0 0 5149 1711 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 1 10 6848 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(...): 6860 calls 6.004879 ms avg 6.287493 ms exp.avg 4.074106 ms avg child time (67.800000%) 40.096223 ms avg inter (24.940005 fps) 39.964558 ms exp.avg (25.022171 fps) Exec: 0 0 0 0 3481 3362 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 0 0 0 0 0 1 10 6848 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(...): 6860 calls 4.074106 ms avg 3.919755 ms exp.avg 0.024344 ms avg child time (0.500000%) 40.096427 ms avg inter (24.939878 fps) 39.964676 ms exp.avg (25.022097 fps) Exec: 0 0 0 0 5175 1685 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 1 10 6848 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(...): 20580 calls 0.008115 ms avg 0.006116 ms exp.avg 0.000000 ms avg child time (0.000000%) 13.362241 ms avg inter (74.837747 fps) 11.208715 ms exp.avg (89.216286 fps) Exec: 13644 6906 11 19 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: 6640 7041 16 23 0 0 2 9 6848 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: 20.268370 to 298.097919 ReadySendJoints(): 8641 calls 6.176780 ms avg 7.893387 ms exp.avg 0.000415 ms avg child time (0.000000%) 32.061502 ms avg inter (31.190054 fps) 32.132229 ms exp.avg (31.121399 fps) Exec: 0 0 0 9 5081 3509 28 1 0 11 1 1 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 0 0 6 8615 4 9 4 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotSensorFrame(): 8651 calls 2.435364 ms avg 2.399463 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.024923 ms avg inter (31.225680 fps) 33.179947 ms exp.avg (30.138687 fps) Exec: 0 0 1 4752 3778 117 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 Inter: 0 0 0 1 5 11 9 8596 15 4 8 1 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: 19.842183 to 298.103381 doSendSound(): 56 calls 1.806000 ms avg 2.533968 ms exp.avg 0.063429 ms avg child time (3.500000%) 4949.283143 ms avg inter (0.202049 fps) 35061.843750 ms exp.avg (0.028521 fps) Exec: 2 1 11 33 6 2 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 1 0 0 1 0 0 49 2 0 0 0 0 0 0 0 1 0 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,