Setup: Default build for ERS-7 (TGT_ERS7) 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: 17.018763 to 298.058755 ReadySendJoints(): 1 calls 0.005000 ms avg 0.005000 ms exp.avg 0.000000 ms avg child time (0.000000%) 0.000000 ms avg inter (Inf fps) 0.000000 ms exp.avg (Inf fps) Exec: 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 0 0 0 0 0 Inter: 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 0 0 0 0 GotAudio(): 8756 calls 0.128307 ms avg 0.127381 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.017760 ms avg inter (31.232666 fps) 32.020893 ms exp.avg (31.229610 fps) Exec: 0 4148 4607 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 0 0 Inter: 0 0 0 1 0 1 0 8750 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotImage(): 8397 calls 5.166750 ms avg 5.118693 ms exp.avg 4.348183 ms avg child time (84.100000%) 33.390237 ms avg inter (29.948874 fps) 33.542843 ms exp.avg (29.812620 fps) Exec: 0 7 20 0 6167 2202 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 1 0 1 1 6956 1435 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PowerEvent(): 20 calls 12.926850 ms avg 11.779295 ms exp.avg 0.000000 ms avg child time (0.000000%) 13350.264700 ms avg inter (0.074905 fps) 12971.545898 ms exp.avg (0.077092 fps) Exec: 0 18 1 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 0 0 0 0 Inter: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 16 BallDetection::processEvent(): 8375 calls 4.359631 ms avg 4.237320 ms exp.avg 4.092209 ms avg child time (93.800000%) 33.335123 ms avg inter (29.998389 fps) 33.515694 ms exp.avg (29.836767 fps) Exec: 4 0 1 0 6263 2107 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: 2 2 0 0 0 2 1 6937 1430 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(...): 8370 calls 4.094652 ms avg 3.987980 ms exp.avg 2.735832 ms avg child time (66.800000%) 33.354581 ms avg inter (29.980890 fps) 33.516983 ms exp.avg (29.835619 fps) Exec: 0 0 0 0 6273 2097 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 1 6937 1430 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(...): 8370 calls 2.735832 ms avg 2.642987 ms exp.avg 2.018154 ms avg child time (73.700000%) 33.354494 ms avg inter (29.980968 fps) 33.521011 ms exp.avg (29.832035 fps) Exec: 0 0 0 0 8365 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 Inter: 0 0 0 0 0 1 1 6937 1430 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(...): 8370 calls 2.018154 ms avg 1.927372 ms exp.avg 0.018810 ms avg child time (0.900000%) 33.354653 ms avg inter (29.980825 fps) 33.521385 ms exp.avg (29.831703 fps) Exec: 0 0 0 6283 2085 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 1 1 6937 1430 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(...): 25110 calls 0.006270 ms avg 0.003734 ms exp.avg 0.000000 ms avg child time (0.000000%) 11.116241 ms avg inter (89.958465 fps) 9.354381 ms exp.avg (106.901787 fps) Exec: 22170 2805 134 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 0 0 Inter: 8038 8337 364 1 0 1 1 6937 1430 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: 17.404824 to 298.061958 ReadySendJoints(): 8745 calls 1.099006 ms avg 0.936845 ms exp.avg 0.000356 ms avg child time (0.000000%) 32.070014 ms avg inter (31.181776 fps) 31.942242 ms exp.avg (31.306507 fps) Exec: 0 0 17 8694 16 2 1 0 0 15 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 0 1 8724 3 14 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotSensorFrame(): 8756 calls 0.811839 ms avg 0.814478 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.017589 ms avg inter (31.232833 fps) 31.944380 ms exp.avg (31.304411 fps) Exec: 0 0 198 8553 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 0 0 8 8 6 7 8709 2 4 11 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: 17.017888 to 298.062724 doSendSound(): 50 calls 0.588880 ms avg 0.873355 ms exp.avg 0.025740 ms avg child time (4.300000%) 5609.940660 ms avg inter (0.178255 fps) 35496.847656 ms exp.avg (0.028172 fps) Exec: 3 2 27 17 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 0 Inter: 0 1 0 1 0 0 0 43 2 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,