how can we use rgc?

[knorth55]

@k-okada
How can we use rgc which is implemented in 2006?
http://www.jsk.t.u-tokyo.ac.jp/~k-okada/paper/2006_jssst_okada_rgc.pdf

Do we need to include Makefile.rgc and build by ourselves?
Some people says euslisp is slow because of gc in macro (I'm not sure), so I want to check it.
https://github.com/euslisp/EusLisp/blob/master/lisp/Makefile.Linux64#L96

[k-okada]

Yes, you need to recompile to use rgc. But before you go to this direction , insert the following code and check when GC runs. If euslisp slows only when it displays "gc ... " then you can tell gc stops your process, otherwise, you need to understand what is happening exactly... (setq sys::*gc-hook* #'(lambda (a b) (format t ";; gc ~A ~A~%" a b)))

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-- ◉ Kei Okada

-- ◉ Kei Okada 2020年11月6日(金) 11:53 Shingo Kitagawa <[email protected]>:

@k-okada How can we use rgc which is implemented in 2006? http://www.jsk.t.u-tokyo.ac.jp/~k-okada/paper/2006_jssst_okada_rgc.pdf Do we need to include Makefile.rgc and build by ourselves? Some people says euslisp is slow because of gc in macro (I'm not sure), so I want to check it. https://github.com/euslisp/EusLisp/blob/master/lisp/Makefile.Linux64#L96 — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

[knorth55]

I checked gc with gc-hook and I remove all when unless dolist and stop most of the gc in my control loop.

[k-okada]

please share the code -- ◉ Kei Okada 2020年11月10日(火) 3:15 Shingo Kitagawa <[email protected]>:

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I checked gc with gc-hook and I remove all when unless dolist and stop most of the gc in my control loop. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#453 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXCG37QL5ROB4VRVYA3SPAWVRANCNFSM4TMEQS4Q> .

[knorth55]

here, you can find the code.
https://github.com/knorth55/eus_vive/blob/master/euslisp/lib/robot-vr-interface.l

I'm also opening a PR.
jsk-ros-pkg/jsk_control#731

[k-okada]

please let me know how to reproduce your problem on my local machine.

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-- ◉ Kei Okada 2020年11月10日(火) 13:36 Shingo Kitagawa <[email protected]>:

here, you can find the code. https://github.com/knorth55/eus_vive/blob/master/euslisp/lib/robot-vr-interface.l I'm also opening a PR. jsk-ros-pkg/jsk_control#731 <jsk-ros-pkg/jsk_control#731> — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#453 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXEIMMPTLQ3NC6C6IOLSPC7LVANCNFSM4TMEQS4Q> .

[knorth55]

In order to try that, we need vr controller (vive controller).
I will improve my code to work with other interface like rviz, too, so please wait a week or a month.

I set 10Hz to run the main loop for vr controller, but it wasn't running in 10Hz actually.
It depends on computer spec, so I just want to make my code faster.
Another way is compiling all the codes and make .so but I first tried with removing macro method.

[k-okada]

how about using rosbag to publish vr controller - related topics ,and runs euslisp code? -- ◉ Kei Okada 2020年11月10日(火) 15:07 Shingo Kitagawa <[email protected]>:

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In order to try that, we need vr controller (vive controller). I will improve my code to work with other interface like rviz, too, so please wait a week or a month. I set 10Hz to run the main loop for vr controller, but it wasn't running in 10Hz actually. It depends on computer spec, so I just want to make my code faster. Another way is compiling all the codes and make .so but I first tried with removing macro method. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#453 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXBZMBFE6XNLTYQAUKTSPDKDTANCNFSM4TMEQS4Q> .

[knorth55]

that's a good idea.
I will correct the rosbag data.