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: 18.204827 to 297.970325 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(): 8712 calls 0.128476 ms avg 0.122860 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.018388 ms avg inter (31.232053 fps) 31.956676 ms exp.avg (31.292366 fps) Exec: 0 6734 1967 11 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 1 8705 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(): 8354 calls 6.426067 ms avg 5.666499 ms exp.avg 4.872636 ms avg child time (75.800000%) 33.364011 ms avg inter (29.972415 fps) 33.722668 ms exp.avg (29.653643 fps) Exec: 0 6 22 4 3571 4751 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 2 0 6921 1427 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PowerEvent(): 8 calls 31.721500 ms avg 80.835716 ms exp.avg 0.000000 ms avg child time (0.000000%) 31368.884500 ms avg inter (0.031879 fps) 36474.906250 ms exp.avg (0.027416 fps) Exec: 0 3 3 1 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 0 0 0 0 0 0 0 0 0 0 7 BallDetection::processEvent(): 8327 calls 4.888475 ms avg 4.407200 ms exp.avg 4.023273 ms avg child time (82.300000%) 33.336470 ms avg inter (29.997177 fps) 33.687176 ms exp.avg (29.684889 fps) Exec: 4 0 1 0 5958 2364 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 1 1 6899 1421 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(...): 8322 calls 4.025688 ms avg 3.653399 ms exp.avg 2.717215 ms avg child time (67.400000%) 33.356094 ms avg inter (29.979529 fps) 33.687759 ms exp.avg (29.684372 fps) Exec: 0 0 0 0 6397 1925 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 0 6899 1421 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(...): 8322 calls 2.717215 ms avg 2.497596 ms exp.avg 1.997289 ms avg child time (73.500000%) 33.356119 ms avg inter (29.979507 fps) 33.687740 ms exp.avg (29.684389 fps) Exec: 0 0 0 0 8316 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 1 0 6899 1421 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(...): 8322 calls 1.997289 ms avg 1.834098 ms exp.avg 0.013444 ms avg child time (0.600000%) 33.356100 ms avg inter (29.979524 fps) 33.687885 ms exp.avg (29.684261 fps) Exec: 0 0 0 6233 2089 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 0 6899 1421 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(...): 24966 calls 0.004481 ms avg 0.003650 ms exp.avg 0.000000 ms avg child time (0.000000%) 11.117756 ms avg inter (89.946206 fps) 9.556930 ms exp.avg (104.636116 fps) Exec: 19109 5854 3 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: 8321 8320 3 0 0 1 0 6899 1421 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: 18.682721 to 297.973808 ReadySendJoints(): 8694 calls 1.909765 ms avg 1.547360 ms exp.avg 0.000244 ms avg child time (0.000000%) 32.090481 ms avg inter (31.161889 fps) 32.025234 ms exp.avg (31.225378 fps) Exec: 0 0 15 6592 2068 2 0 0 0 14 2 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 1 8673 1 14 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 GotSensorFrame(): 8707 calls 0.876861 ms avg 0.858722 ms exp.avg 0.000000 ms avg child time (0.000000%) 32.043887 ms avg inter (31.207200 fps) 31.944118 ms exp.avg (31.304667 fps) Exec: 0 0 168 8370 168 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 Inter: 0 0 2 2 12 6 7 8659 1 5 11 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: 18.131377 to 297.974561 doSendSound(): 50 calls 0.585760 ms avg 0.687861 ms exp.avg 0.031900 ms avg child time (5.400000%) 5582.170860 ms avg inter (0.179142 fps) 35323.535156 ms exp.avg (0.028310 fps) Exec: 3 0 27 20 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 0 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,