Johnliu/px4 cpu optimization#348
Merged
andrewjong merged 17 commits intomainfrom Apr 30, 2026
Merged
Conversation
JohnYanxinLiu
requested review from
andrewjong,
Copilot and
krrishj18
and removed request for
Copilot
Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_isaac_sim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_robot_desktop | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_build_robot_desktop | duration_s | — | 791.8s | new |
| test_build_gcs | duration_s | — | 310.7s | new |
| test_build_isaac_sim | duration_s | — | 715.2s | new |
| test_build_ms_airsim | duration_s | — | 226.5s | new |
test_build_packages
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 0 | 0 → 1 | 0 → 0 | — → 0% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 0 | 0 → 1 | 0 → 0 | — → 0% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 27.64s | new |
| test_colcon_build_gcs | duration_s | — | 25.73s | new |
| test_colcon_build_ms_airsim | duration_s | — | 12.95s | new |
docker
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| docker.gcs | image_size_mb | — | 2024MB | new |
| docker.isaac-sim | image_size_mb | — | 1.253e+04MB | new |
| docker.ms-airsim | image_size_mb | — | 4008MB | new |
Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_isaac_sim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_robot_desktop | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_build_robot_desktop | duration_s | — | 763.3s | new |
| test_build_gcs | duration_s | — | 37.86s | new |
| test_build_isaac_sim | duration_s | — | 169.2s | new |
| test_build_ms_airsim | duration_s | — | 52.39s | new |
test_build_packages
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 0 | 0 → 1 | 0 → 0 | — → 0% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 0 | 0 → 1 | 0 → 0 | — → 0% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 163.7s | new |
| test_colcon_build_gcs | duration_s | — | 32.34s | new |
| test_colcon_build_ms_airsim | duration_s | — | 12.95s | new |
docker
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| docker.gcs | image_size_mb | — | 2024MB | new |
| docker.isaac-sim | image_size_mb | — | 1.253e+04MB | new |
| docker.ms-airsim | image_size_mb | — | 4008MB | new |
Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_isaac_sim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_robot_desktop | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_build_robot_desktop | duration_s | — | 568s | new |
| test_build_gcs | duration_s | — | 42.73s | new |
| test_build_isaac_sim | duration_s | — | 180.3s | new |
| test_build_ms_airsim | duration_s | — | 33.37s | new |
test_build_packages
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 0 | 0 → 1 | 0 → 0 | — → 0% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 0 | 0 → 1 | 0 → 0 | — → 0% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 124.7s | new |
| test_colcon_build_gcs | duration_s | — | 26.52s | new |
| test_colcon_build_ms_airsim | duration_s | — | 12.79s | new |
docker
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| docker.gcs | image_size_mb | — | 2024MB | new |
| docker.isaac-sim | image_size_mb | — | 1.253e+04MB | new |
| docker.ms-airsim | image_size_mb | — | 4008MB | new |
Test Metrics —
|
Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_isaac_sim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_robot_desktop | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_build_robot_desktop | duration_s | — | 73.25s | new |
| test_build_gcs | duration_s | — | 42.85s | new |
| test_build_isaac_sim | duration_s | — | 486.5s | new |
| test_build_ms_airsim | duration_s | — | 29.96s | new |
test_build_packages
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 169.6s | new |
| test_colcon_build_gcs | duration_s | — | 57.14s | new |
| test_colcon_build_ms_airsim | duration_s | — | 12.58s | new |
docker
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| docker.gcs | image_size_mb | — | 2024MB | new |
| docker.isaac-sim | image_size_mb | — | 1.253e+04MB | new |
| docker.ms-airsim | image_size_mb | — | 4008MB | new |
…ker-compose defaults.
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Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_isaac_sim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_robot_desktop | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_build_robot_desktop | duration_s | — | 72.33s | new |
| test_build_gcs | duration_s | — | 38.2s | new |
| test_build_isaac_sim | duration_s | — | 152.1s | new |
| test_build_ms_airsim | duration_s | — | 31.19s | new |
test_build_packages
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 175.8s | new |
| test_colcon_build_gcs | duration_s | — | 60.42s | new |
| test_colcon_build_ms_airsim | duration_s | — | 13.2s | new |
docker
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| docker.gcs | image_size_mb | — | 2024MB | new |
| docker.isaac-sim | image_size_mb | — | 1.253e+04MB | new |
| docker.ms-airsim | image_size_mb | — | 4008MB | new |
Test Metrics —
|
Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_isaac_sim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_build_robot_desktop | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_build_robot_desktop | duration_s | — | 93.72s | new |
| test_build_gcs | duration_s | — | 39.79s | new |
| test_build_isaac_sim | duration_s | — | 161s | new |
| test_build_ms_airsim | duration_s | — | 30.01s | new |
test_build_packages
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 169.1s | new |
| test_colcon_build_gcs | duration_s | — | 56.64s | new |
| test_colcon_build_ms_airsim | duration_s | — | 12.55s | new |
docker
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| docker.gcs | image_size_mb | — | 2024MB | new |
| docker.isaac-sim | image_size_mb | — | 1.253e+04MB | new |
| docker.ms-airsim | image_size_mb | — | 4008MB | new |
JohnYanxinLiu
force-pushed
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johnliu/px4_cpu_optimization
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Member
|
/pytest -m 'build_packages or liveliness or takeoff_hover_land' --sim isaacsim |
|
Running |
Test Metrics —
|
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_colcon_build_gcs | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_ms_airsim | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
| test_colcon_build_robot | 0 → 1 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_colcon_build_robot | duration_s | — | 167.9s | new |
| test_colcon_build_gcs | duration_s | — | 57.27s | new |
| test_colcon_build_ms_airsim | duration_s | — | 39.8s | new |
test_liveliness
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_compute_usage[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_compute_usage[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_gcs_container_running[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_gcs_container_running[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_realtime_factor[isaacsim-rob#1] | 0 → 2 | 0 → 1 | 0 → 0 | — → 67% |
| test_realtime_factor[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_robot_containers_running[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_robot_containers_running[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sentinel_nodes_present[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sentinel_nodes_present[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sim_container_running[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sim_container_running[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sim_publishing[isaacsim-rob#1] | 0 → 2 | 0 → 1 | 0 → 0 | — → 67% |
| test_sim_publishing[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sim_ready_time[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_sim_ready_time[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_stable[isaacsim-rob#1] | 0 → 2 | 0 → 0 | 0 → 1 | — → 100% |
| test_stable[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_tmux_panes_have_expected_processes[isaacsim-rob#1] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_tmux_panes_have_expected_processes[isaacsim-rob#3] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_robot_containers_running[isaacsim-rob#1] | duration_s | — | 10.52s ± 5.9 (n=3/3) | new |
| test_robot_containers_running[isaacsim-rob#1] | airstack_up_duration_s | — | 1.75s ± 0.036 (n=3/3) | new |
| test_robot_containers_running[isaacsim-rob#1] | airstack_down_duration_s | — | 12.43s ± 0.2 (n=3/3) | new |
| test_sim_container_running[isaacsim-rob#1] | duration_s | — | 0.019s ± 0 (n=3/3) | new |
| test_gcs_container_running[isaacsim-rob#1] | duration_s | — | 0.044s ± 0.001 (n=3/3) | new |
| test_sim_ready_time[isaacsim-rob#1] | duration_s | — | 55.81s ± 17 (n=3/3) | new |
| test_sim_ready_time[isaacsim-rob#1] | sim_ready_duration_s | — | 57.67s ± 17 (n=3/3) | new |
| test_tmux_panes_have_expected_processes[isaacsim-rob#1] | duration_s | — | 0.185s ± 0.012 (n=3/3) | new |
| test_sim_publishing[isaacsim-rob#1] | duration_s | — | 10.62s ± 0.056 (n=3/3) | new |
| test_compute_usage[isaacsim-rob#1] | duration_s | — | 2.656s ± 0.013 (n=3/3) | new |
| test_realtime_factor[isaacsim-rob#1] | duration_s | — | 17.06s ± 8.1 (n=3/3) | new |
| test_realtime_factor[isaacsim-rob#1] | sim.realtime_factor | — | 1.65 ± 0.051 (n=2/3, 1 miss) | new |
| test_sentinel_nodes_present[isaacsim-rob#1] | duration_s | — | 5.282s ± 2.8 (n=3/3) | new |
| test_stable[isaacsim-rob#1] | duration_s | — | 193.1s ± 1.4e+02 (n=3/3) | new |
| test_robot_containers_running[isaacsim-rob#3] | duration_s | — | 15.85s ± 0.3 (n=3/3) | new |
| test_robot_containers_running[isaacsim-rob#3] | airstack_up_duration_s | — | 2.663s ± 0.012 (n=3/3) | new |
| test_robot_containers_running[isaacsim-rob#3] | airstack_down_duration_s | — | 12.65s ± 0.25 (n=3/3) | new |
| test_sim_container_running[isaacsim-rob#3] | duration_s | — | 0.028s ± 0.004 (n=3/3) | new |
| test_gcs_container_running[isaacsim-rob#3] | duration_s | — | 0.068s ± 0.003 (n=3/3) | new |
| test_sim_ready_time[isaacsim-rob#3] | duration_s | — | 67.6s ± 0.77 (n=3/3) | new |
| test_sim_ready_time[isaacsim-rob#3] | sim_ready_duration_s | — | 70.5s ± 0.75 (n=3/3) | new |
| test_tmux_panes_have_expected_processes[isaacsim-rob#3] | duration_s | — | 0.353s ± 0.011 (n=3/3) | new |
| test_sim_publishing[isaacsim-rob#3] | duration_s | — | 10.63s ± 0.026 (n=3/3) | new |
| test_compute_usage[isaacsim-rob#3] | duration_s | — | 2.678s ± 0.006 (n=3/3) | new |
| test_realtime_factor[isaacsim-rob#3] | duration_s | — | 24.38s ± 2.5 (n=3/3) | new |
| test_realtime_factor[isaacsim-rob#3] | sim.realtime_factor | — | 0.758 ± 0.007 (n=3/3) | new |
| test_sentinel_nodes_present[isaacsim-rob#3] | duration_s | — | 11.53s ± 0.038 (n=3/3) | new |
| test_stable[isaacsim-rob#3] | duration_s | — | 315.7s ± 5.8 (n=3/3) | new |
Sim publishing rates (baseline n=None, current n=3; baseline → current, per-topic)
| Test | Topic | mean | start_mean | end_mean | min | max |
|---|---|---|---|---|---|---|
| test_stable[isaacsim-rob#1] | clock | 50.08Hz | 49.92Hz (t=10-60s) | 50.23Hz (t=70-120s) | 44.24Hz | 59.53Hz |
| test_stable[isaacsim-rob#1] | robot.sensors.front_stereo.left.image_rect | 50.4Hz | 50.85Hz (t=10-60s) | 49.94Hz (t=70-120s) | 41.76Hz | 62.81Hz |
| test_stable[isaacsim-rob#1] | robot.sensors.front_stereo.right.image_rect | 49.45Hz | 50.94Hz (t=10-60s) | 47.96Hz (t=70-120s) | 40.29Hz | 59.05Hz |
| test_stable[isaacsim-rob#1] | robot.sensors.front_stereo.left.depth_ground_truth | 44.39Hz | 44.94Hz (t=10-60s) | 43.84Hz (t=70-120s) | 31.71Hz | 59.25Hz |
| test_stable[isaacsim-rob#1] | robot.sensors.front_stereo.right.depth_ground_truth | 42.33Hz | 42.85Hz (t=10-60s) | 41.8Hz (t=70-120s) | 23.62Hz | 52.33Hz |
| test_stable[isaacsim-rob#3] | clock | 23.83Hz | 24.17Hz (t=10-60s) | 23.49Hz (t=70-120s) | 21.89Hz | 26.45Hz |
| test_stable[isaacsim-rob#3] | robot.sensors.front_stereo.left.image_rect | 22.97Hz | 23.09Hz (t=10-60s) | 22.85Hz (t=70-120s) | 17.25Hz | 26.75Hz |
| test_stable[isaacsim-rob#3] | robot.sensors.front_stereo.right.image_rect | 22.74Hz | 23.1Hz (t=10-60s) | 22.38Hz (t=70-120s) | 16.46Hz | 26.73Hz |
| test_stable[isaacsim-rob#3] | robot.sensors.front_stereo.left.depth_ground_truth | 18.25Hz | 17.62Hz (t=10-60s) | 18.89Hz (t=70-120s) | 9.424Hz | 25.64Hz |
| test_stable[isaacsim-rob#3] | robot.sensors.front_stereo.right.depth_ground_truth | 18.23Hz | 18.98Hz (t=10-60s) | 17.48Hz (t=70-120s) | 9.741Hz | 26.13Hz |
Compute usage (baseline n=None, current n=3; baseline → current, per-container and global)
| Test | Entity | Metric | mean | start_mean | end_mean | min | max |
|---|---|---|---|---|---|---|---|
| test_stable[isaacsim-rob#1] | isaac-sim | cpu_pct | 708% | 711.5% (t=10-60s) | 704.5% (t=70-120s) | 672% | 766.1% |
| test_stable[isaacsim-rob#1] | isaac-sim | mem_mb | 1.122e+04MB | 1.123e+04MB (t=10-60s) | 1.122e+04MB (t=70-120s) | 1.121e+04MB | 1.128e+04MB |
| test_stable[isaacsim-rob#1] | isaac-sim | disk_io_mb | 518.9MB | 487MB (t=10-60s) | 550.9MB (t=70-120s) | 459.5MB | 577.5MB |
| test_stable[isaacsim-rob#1] | isaac-sim | net_io_mb | 1.38e+04MB | 8845MB (t=10-60s) | 1.875e+04MB (t=70-120s) | 4680MB | 2.284e+04MB |
| test_stable[isaacsim-rob#1] | host | cpu_pct | 25.1% | 24.54% (t=10-60s) | 25.66% (t=70-120s) | 22.3% | 28.5% |
| test_stable[isaacsim-rob#1] | host | mem_mb | 1.58e+04MB | 1.578e+04MB (t=10-60s) | 1.581e+04MB (t=70-120s) | 1.572e+04MB | 1.602e+04MB |
| test_stable[isaacsim-rob#1] | host | gpu_pct | 28.96% | 29.59% (t=10-60s) | 28.33% (t=70-120s) | 26% | 32% |
| test_stable[isaacsim-rob#1] | host | vram_mb | 3469MB | 3469MB (t=10-60s) | 3469MB (t=70-120s) | 3469MB | 3469MB |
| test_stable[isaacsim-rob#1] | host | gpu_temp_c | 41.88°C | 41.58°C (t=10-60s) | 42.16°C (t=70-120s) | 40.5°C | 42.5°C |
| test_stable[isaacsim-rob#1] | host | gpu_power_w | 89.23W | 89.29W (t=10-60s) | 89.18W (t=70-120s) | 87.18W | 92.71W |
| test_stable[isaacsim-rob#1] | airstack-robot-desktop | cpu_pct | 251.3% | 255.4% (t=10-60s) | 247.1% (t=70-120s) | 230.1% | 271.4% |
| test_stable[isaacsim-rob#1] | airstack-robot-desktop | mem_mb | 684.1MB | 681.6MB (t=10-60s) | 686.6MB (t=70-120s) | 677.5MB | 694MB |
| test_stable[isaacsim-rob#1] | airstack-robot-desktop | disk_io_mb | 71.22MB | 71.14MB (t=10-60s) | 71.31MB (t=70-120s) | 71.05MB | 71.4MB |
| test_stable[isaacsim-rob#1] | airstack-robot-desktop | net_io_mb | 1.378e+04MB | 8834MB (t=10-60s) | 1.873e+04MB (t=70-120s) | 4669MB | 2.288e+04MB |
| test_stable[isaacsim-rob#1] | airstack-gcs | cpu_pct | 0% | 0% (t=10-60s) | 0% (t=70-120s) | 0% | 0% |
| test_stable[isaacsim-rob#1] | airstack-gcs | mem_mb | 18.75MB | 18.75MB (t=10-60s) | 18.75MB (t=70-120s) | 18.75MB | 18.75MB |
| test_stable[isaacsim-rob#1] | airstack-gcs | disk_io_mb | 24.3MB | 24.3MB (t=10-60s) | 24.3MB (t=70-120s) | 24.3MB | 24.3MB |
| test_stable[isaacsim-rob#1] | airstack-gcs | net_io_mb | 1.335MB | 0.96MB (t=10-60s) | 1.715MB (t=70-120s) | 0.653MB | 2.025MB |
| test_stable[isaacsim-rob#3] | isaac-sim | cpu_pct | 623.2% | 623.1% (t=10-60s) | 623.3% (t=70-120s) | 597.5% | 656.9% |
| test_stable[isaacsim-rob#3] | isaac-sim | mem_mb | 1.184e+04MB | 1.184e+04MB (t=10-60s) | 1.185e+04MB (t=70-120s) | 1.183e+04MB | 1.185e+04MB |
| test_stable[isaacsim-rob#3] | isaac-sim | disk_io_mb | 708MB | 658.5MB (t=10-60s) | 757.6MB (t=70-120s) | 615.9MB | 798.6MB |
| test_stable[isaacsim-rob#3] | isaac-sim | net_io_mb | 2.193e+04MB | 1.42e+04MB (t=10-60s) | 2.967e+04MB (t=70-120s) | 7639MB | 3.606e+04MB |
| test_stable[isaacsim-rob#3] | host | cpu_pct | 29.84% | 29.49% (t=10-60s) | 30.2% (t=70-120s) | 26.93% | 33.8% |
| test_stable[isaacsim-rob#3] | host | mem_mb | 1.775e+04MB | 1.774e+04MB (t=10-60s) | 1.776e+04MB (t=70-120s) | 1.769e+04MB | 1.781e+04MB |
| test_stable[isaacsim-rob#3] | host | gpu_pct | 30.58% | 30.33% (t=10-60s) | 30.83% (t=70-120s) | 25% | 35.67% |
| test_stable[isaacsim-rob#3] | host | vram_mb | 3859MB | 3859MB (t=10-60s) | 3859MB (t=70-120s) | 3859MB | 3859MB |
| test_stable[isaacsim-rob#3] | host | gpu_temp_c | 41.06°C | 40.89°C (t=10-60s) | 41.22°C (t=70-120s) | 40°C | 42°C |
| test_stable[isaacsim-rob#3] | host | gpu_power_w | 87.68W | 87.36W (t=10-60s) | 88W (t=70-120s) | 85.94W | 89.73W |
| test_stable[isaacsim-rob#3] | airstack-robot-desktop | cpu_pct | 173.7% | 175% (t=10-60s) | 172.4% (t=70-120s) | 137.2% | 214.6% |
| test_stable[isaacsim-rob#3] | airstack-robot-desktop | mem_mb | 648.3MB | 645.7MB (t=10-60s) | 651MB (t=70-120s) | 640MB | 668.8MB |
| test_stable[isaacsim-rob#3] | airstack-robot-desktop | disk_io_mb | 25.04MB | 24.86MB (t=10-60s) | 25.23MB (t=70-120s) | 15.1MB | 41.91MB |
| test_stable[isaacsim-rob#3] | airstack-robot-desktop | net_io_mb | 7313MB | 4735MB (t=10-60s) | 9892MB (t=70-120s) | 2535MB | 1.208e+04MB |
| test_stable[isaacsim-rob#3] | airstack-gcs | cpu_pct | 0% | 0% (t=10-60s) | 0% (t=70-120s) | 0% | 0% |
| test_stable[isaacsim-rob#3] | airstack-gcs | mem_mb | 18.16MB | 18.16MB (t=10-60s) | 18.16MB (t=70-120s) | 18.16MB | 18.16MB |
| test_stable[isaacsim-rob#3] | airstack-gcs | disk_io_mb | 3.05MB | 3.05MB (t=10-60s) | 3.05MB (t=70-120s) | 3.051MB | 3.051MB |
| test_stable[isaacsim-rob#3] | airstack-gcs | net_io_mb | 4.063MB | 2.903MB (t=10-60s) | 5.227MB (t=70-120s) | 1.933MB | 6.197MB |
test_takeoff_hover_land
Pass rates
| Test | Pass | Fail | Skip | Rate (baseline → current) |
|---|---|---|---|---|
| test_hover[isaacsim-rob#1-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_hover[isaacsim-rob#1-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_hover[isaacsim-rob#1-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_hover[isaacsim-rob#3-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_hover[isaacsim-rob#3-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_hover[isaacsim-rob#3-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_hover[msairsim-rob#1-v0.5] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_hover[msairsim-rob#1-v1.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_hover[msairsim-rob#1-v2.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_landing[isaacsim-rob#1-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_landing[isaacsim-rob#1-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_landing[isaacsim-rob#1-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_landing[isaacsim-rob#3-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_landing[isaacsim-rob#3-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_landing[isaacsim-rob#3-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_landing[msairsim-rob#1-v0.5] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_landing[msairsim-rob#1-v1.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_landing[msairsim-rob#1-v2.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_px4_ready[isaacsim-rob#1-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_px4_ready[isaacsim-rob#1-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_px4_ready[isaacsim-rob#1-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_px4_ready[isaacsim-rob#3-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_px4_ready[isaacsim-rob#3-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_px4_ready[isaacsim-rob#3-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_px4_ready[msairsim-rob#1-v0.5] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_px4_ready[msairsim-rob#1-v1.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_px4_ready[msairsim-rob#1-v2.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_takeoff[isaacsim-rob#1-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_takeoff[isaacsim-rob#1-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_takeoff[isaacsim-rob#1-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_takeoff[isaacsim-rob#3-v0.5] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_takeoff[isaacsim-rob#3-v1.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_takeoff[isaacsim-rob#3-v2.0] | 0 → 3 | 0 → 0 | 0 → 0 | — → 100% |
| test_takeoff[msairsim-rob#1-v0.5] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_takeoff[msairsim-rob#1-v1.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
| test_takeoff[msairsim-rob#1-v2.0] | 1 → 0 | 0 → 0 | 0 → 0 | 100% → — |
Metrics
| Test | Metric | Baseline | Current | Change |
|---|---|---|---|---|
| test_px4_ready[isaacsim-rob#1-v0.5] | duration_s | — | 83.84s ± 4.6 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#1-v0.5] | airstack_up_duration_s | — | 1.743s ± 0.017 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#1-v0.5] | airstack_down_duration_s | — | 12.33s ± 0.008 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#1-v0.5] | robot.ready_duration_sys_s | — | 73.42s ± 1.4 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v0.5] | duration_s | — | 16.71s ± 0.69 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v0.5] | robot.altitude_error_m | — | -0.128m ± 0.01 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v0.5] | robot.overshoot_m | — | 0m ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v0.5] | robot.takeoff_duration_sim_s | — | 18.04s ± 0.075 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v0.5] | robot.velocity_rmse_m_sim_s | — | 0.105m/s ± 0.002 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v0.5] | duration_s | — | 10.06s ± 0.001 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v0.5] | robot.hover_altitude_mean_error_m | — | 0.017m ± 0.013 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v0.5] | robot.hover_position_stddev_m | — | 0.049m ± 0.014 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v0.5] | duration_s | — | 18.21s ± 0.91 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v0.5] | robot.final_altitude_m | — | -0.013m ± 0.014 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v0.5] | robot.land_duration_sim_s | — | 14.81s ± 0.051 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v0.5] | robot.velocity_rmse_m_sim_s | — | 0.099m/s ± 0.001 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#1-v1.0] | duration_s | — | 0.001s ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v1.0] | duration_s | — | 11.8s ± 0.5 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v1.0] | robot.altitude_error_m | — | -0.134m ± 0.003 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v1.0] | robot.overshoot_m | — | 0m ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v1.0] | robot.takeoff_duration_sim_s | — | 10.22s ± 0.028 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v1.0] | robot.velocity_rmse_m_sim_s | — | 0.23m/s ± 0.001 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v1.0] | duration_s | — | 10.06s ± 0 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v1.0] | robot.hover_altitude_mean_error_m | — | 0.034m ± 0.012 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v1.0] | robot.hover_position_stddev_m | — | 0.055m ± 0.018 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v1.0] | duration_s | — | 12.37s ± 0.73 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v1.0] | robot.final_altitude_m | — | -0.012m ± 0.008 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v1.0] | robot.land_duration_sim_s | — | 7.41s ± 0.024 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v1.0] | robot.velocity_rmse_m_sim_s | — | 0.199m/s ± 0.002 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#1-v2.0] | duration_s | — | 0.001s ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v2.0] | duration_s | — | 11.78s ± 0.46 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v2.0] | robot.altitude_error_m | — | -0.133m ± 0.011 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v2.0] | robot.overshoot_m | — | 0m ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v2.0] | robot.takeoff_duration_sim_s | — | 10.27s ± 0.014 (n=3/3) | new |
| test_takeoff[isaacsim-rob#1-v2.0] | robot.velocity_rmse_m_sim_s | — | 1.096m/s ± 0.001 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v2.0] | duration_s | — | 10.06s ± 0.004 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v2.0] | robot.hover_altitude_mean_error_m | — | 0.016m ± 0.009 (n=3/3) | new |
| test_hover[isaacsim-rob#1-v2.0] | robot.hover_position_stddev_m | — | 0.053m ± 0.007 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v2.0] | duration_s | — | 11.89s ± 0.67 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v2.0] | robot.final_altitude_m | — | -0.021m ± 0.012 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v2.0] | robot.land_duration_sim_s | — | 7.28s ± 0.028 (n=3/3) | new |
| test_landing[isaacsim-rob#1-v2.0] | robot.velocity_rmse_m_sim_s | — | 0.971m/s ± 0.002 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#3-v0.5] | duration_s | — | 104s ± 3.2 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#3-v0.5] | airstack_up_duration_s | — | 2.643s ± 0.025 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#3-v0.5] | airstack_down_duration_s | — | 12.46s ± 0.017 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#3-v0.5] | robot.ready_duration_sys_s | — | 78.08s ± 0.77 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v0.5] | duration_s | — | 31.96s ± 0.34 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v0.5] | robot.altitude_error_m | — | -0.152m ± 0.007 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v0.5] | robot.overshoot_m | — | 0m ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v0.5] | robot.takeoff_duration_sim_s | — | 17.72s ± 0.3 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v0.5] | robot.velocity_rmse_m_sim_s | — | 0.105m/s ± 0.002 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v0.5] | duration_s | — | 10.14s ± 0.02 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v0.5] | robot.hover_altitude_mean_error_m | — | 0.017m ± 0.005 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v0.5] | robot.hover_position_stddev_m | — | 0.03m ± 0.008 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v0.5] | duration_s | — | 37.26s ± 1.3 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v0.5] | robot.final_altitude_m | — | 0.011m ± 0.016 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v0.5] | robot.land_duration_sim_s | — | 14.8s ± 0.075 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v0.5] | robot.velocity_rmse_m_sim_s | — | 0.098m/s ± 0.001 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#3-v1.0] | duration_s | — | 0.001s ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v1.0] | duration_s | — | 24.14s ± 1.2 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v1.0] | robot.altitude_error_m | — | -0.16m ± 0.002 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v1.0] | robot.overshoot_m | — | 0m ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v1.0] | robot.takeoff_duration_sim_s | — | 10.26s ± 0.042 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v1.0] | robot.velocity_rmse_m_sim_s | — | 0.232m/s ± 0.003 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v1.0] | duration_s | — | 10.12s ± 0.007 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v1.0] | robot.hover_altitude_mean_error_m | — | 0.013m ± 0.002 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v1.0] | robot.hover_position_stddev_m | — | 0.032m ± 0.002 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v1.0] | duration_s | — | 24.03s ± 1.1 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v1.0] | robot.final_altitude_m | — | 0.025m ± 0.019 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v1.0] | robot.land_duration_sim_s | — | 7.12s ± 0.31 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v1.0] | robot.velocity_rmse_m_sim_s | — | 0.191m/s ± 0 (n=3/3) | new |
| test_px4_ready[isaacsim-rob#3-v2.0] | duration_s | — | 0.001s ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v2.0] | duration_s | — | 24.92s ± 0.68 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v2.0] | robot.altitude_error_m | — | -0.164m ± 0.003 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v2.0] | robot.overshoot_m | — | 0m ± 0 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v2.0] | robot.takeoff_duration_sim_s | — | 10.2s ± 0.024 (n=3/3) | new |
| test_takeoff[isaacsim-rob#3-v2.0] | robot.velocity_rmse_m_sim_s | — | 1.088m/s ± 0.001 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v2.0] | duration_s | — | 10.12s ± 0.003 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v2.0] | robot.hover_altitude_mean_error_m | — | 0.021m ± 0.008 (n=3/3) | new |
| test_hover[isaacsim-rob#3-v2.0] | robot.hover_position_stddev_m | — | 0.025m ± 0.004 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v2.0] | duration_s | — | 27.46s ± 5.8 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v2.0] | robot.final_altitude_m | — | 0.003m ± 0.013 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v2.0] | robot.land_duration_sim_s | — | 6.63s ± 0.48 (n=3/3) | new |
| test_landing[isaacsim-rob#3-v2.0] | robot.velocity_rmse_m_sim_s | — | 0.973m/s ± 0.004 (n=3/3) | new |
| test_px4_ready[msairsim-rob#1-v0.5] | duration_s | 215.2s | — | removed |
| test_px4_ready[msairsim-rob#1-v0.5] | airstack_up_duration_s | 3.22s | — | removed |
| test_px4_ready[msairsim-rob#1-v0.5] | airstack_down_duration_s | 11.02s | — | removed |
| test_px4_ready[msairsim-rob#1-v0.5] | robot.ready_duration_sys_s | 211.3s | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | duration_s | 24.1s | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.altitude_error_m | -0.089m | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.overshoot_m | 0m | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.takeoff_duration_sim_s | 18.64s | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.velocity_rmse_m_sim_s | 0.217m/s | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.odometry_error_mean_m | 0.579m | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.odometry_error_max_m | 0.669m | — | removed |
| test_takeoff[msairsim-rob#1-v0.5] | robot.odometry_altitude_bias_m | 0.575m | — | removed |
| test_hover[msairsim-rob#1-v0.5] | duration_s | 10.06s | — | removed |
| test_hover[msairsim-rob#1-v0.5] | robot.hover_altitude_mean_error_m | 0.046m | — | removed |
| test_hover[msairsim-rob#1-v0.5] | robot.hover_position_stddev_m | 0.023m | — | removed |
| test_hover[msairsim-rob#1-v0.5] | robot.odometry_error_mean_m | 0.674m | — | removed |
| test_hover[msairsim-rob#1-v0.5] | robot.odometry_error_max_m | 0.696m | — | removed |
| test_hover[msairsim-rob#1-v0.5] | robot.odometry_altitude_bias_m | 0.674m | — | removed |
| test_landing[msairsim-rob#1-v0.5] | duration_s | 26.44s | — | removed |
| test_landing[msairsim-rob#1-v0.5] | robot.final_altitude_m | -0.097m | — | removed |
| test_landing[msairsim-rob#1-v0.5] | robot.land_duration_sim_s | 14.8s | — | removed |
| test_landing[msairsim-rob#1-v0.5] | robot.velocity_rmse_m_sim_s | 0.226m/s | — | removed |
| test_landing[msairsim-rob#1-v0.5] | robot.odometry_error_mean_m | 0.707m | — | removed |
| test_landing[msairsim-rob#1-v0.5] | robot.odometry_error_max_m | 0.803m | — | removed |
| test_landing[msairsim-rob#1-v0.5] | robot.odometry_altitude_bias_m | 0.706m | — | removed |
| test_px4_ready[msairsim-rob#1-v1.0] | duration_s | 0.001s | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | duration_s | 16.82s | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.altitude_error_m | -0.048m | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.overshoot_m | 0m | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.takeoff_duration_sim_s | 10.22s | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.velocity_rmse_m_sim_s | 0.393m/s | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.odometry_error_mean_m | 0.538m | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.odometry_error_max_m | 0.684m | — | removed |
| test_takeoff[msairsim-rob#1-v1.0] | robot.odometry_altitude_bias_m | 0.538m | — | removed |
| test_hover[msairsim-rob#1-v1.0] | duration_s | 10.07s | — | removed |
| test_hover[msairsim-rob#1-v1.0] | robot.hover_altitude_mean_error_m | 0.127m | — | removed |
| test_hover[msairsim-rob#1-v1.0] | robot.hover_position_stddev_m | 0.06m | — | removed |
| test_hover[msairsim-rob#1-v1.0] | robot.odometry_error_mean_m | 0.697m | — | removed |
| test_hover[msairsim-rob#1-v1.0] | robot.odometry_error_max_m | 0.734m | — | removed |
| test_hover[msairsim-rob#1-v1.0] | robot.odometry_altitude_bias_m | 0.696m | — | removed |
| test_landing[msairsim-rob#1-v1.0] | duration_s | 17.34s | — | removed |
| test_landing[msairsim-rob#1-v1.0] | robot.final_altitude_m | -0.149m | — | removed |
| test_landing[msairsim-rob#1-v1.0] | robot.land_duration_sim_s | 7.2s | — | removed |
| test_landing[msairsim-rob#1-v1.0] | robot.velocity_rmse_m_sim_s | 0.436m/s | — | removed |
| test_landing[msairsim-rob#1-v1.0] | robot.odometry_error_mean_m | 0.679m | — | removed |
| test_landing[msairsim-rob#1-v1.0] | robot.odometry_error_max_m | 0.935m | — | removed |
| test_landing[msairsim-rob#1-v1.0] | robot.odometry_altitude_bias_m | 0.679m | — | removed |
| test_px4_ready[msairsim-rob#1-v2.0] | duration_s | 0.001s | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | duration_s | 15.89s | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.altitude_error_m | -0.042m | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.overshoot_m | 0m | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.takeoff_duration_sim_s | 10.36s | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.velocity_rmse_m_sim_s | 1.086m/s | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.odometry_error_mean_m | 0.541m | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.odometry_error_max_m | 0.684m | — | removed |
| test_takeoff[msairsim-rob#1-v2.0] | robot.odometry_altitude_bias_m | 0.541m | — | removed |
| test_hover[msairsim-rob#1-v2.0] | duration_s | 10.07s | — | removed |
| test_hover[msairsim-rob#1-v2.0] | robot.hover_altitude_mean_error_m | 0.165m | — | removed |
| test_hover[msairsim-rob#1-v2.0] | robot.hover_position_stddev_m | 0.083m | — | removed |
| test_hover[msairsim-rob#1-v2.0] | robot.odometry_error_mean_m | 0.712m | — | removed |
| test_hover[msairsim-rob#1-v2.0] | robot.odometry_error_max_m | 0.748m | — | removed |
| test_hover[msairsim-rob#1-v2.0] | robot.odometry_altitude_bias_m | 0.712m | — | removed |
| test_landing[msairsim-rob#1-v2.0] | duration_s | 26.67s | — | removed |
| test_landing[msairsim-rob#1-v2.0] | robot.final_altitude_m | -0.143m | — | removed |
| test_landing[msairsim-rob#1-v2.0] | robot.land_duration_sim_s | 6.678s | — | removed |
| test_landing[msairsim-rob#1-v2.0] | robot.velocity_rmse_m_sim_s | 0.944m/s | — | removed |
| test_landing[msairsim-rob#1-v2.0] | robot.odometry_error_mean_m | 0.684m | — | removed |
| test_landing[msairsim-rob#1-v2.0] | robot.odometry_error_max_m | 0.963m | — | removed |
| test_landing[msairsim-rob#1-v2.0] | robot.odometry_altitude_bias_m | 0.684m | — | removed |
Member
|
This is cool, the tests show realtime_factor is roughly 0.75 with John's update, which is x2 as good as the previous 0.38 real time factor we were empirically experiencing before. |
andrewjong
approved these changes
Apr 30, 2026
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What does this pull request do?
Sets the PX4 IMU INTEGRATION rate setting in simulation. This allows the user to specify the physics step frequency in isaac-sim. The PX4 physics step frequency is now set to 100 Hz by default to drastically speed up Isaac-sim performance. This pull request also freezes the DDS router at v3.4.0 to remain compatible with isaac-sim.
Which issue number does this address?
Add videos and images if possible.
How did you implement it?
Currently, Dockerfile.isaac-ros patches the PX4 repository with a 1-line change in the simulation startup script to read from an environment variable
PX4_IMU_INTEG_RATEafter cloning to bake the change into the image. PegasusSimulator was adjusted to set the environment variable before launching PX4 in a subprocess.Testing
How do you run the tests?
Typical test of
airstack up, then arming + takeoff, and exploring.Also, able to run the benchmark suite in PegasusSimulator now.
docker exec isaac-sim bash -c \ "/isaac-sim/python.sh /isaac-sim/AirStack/simulation/isaac-sim/extensions/PegasusSimulator/benchmarking/run_all.py"What do the tests do?
the benchmarking script will run a benchmark of tests on the system and give an insight to how close to real time one can get on their system.
What are the expected results of the tests?
The lower the physics step frequency specified, the closer to real time you should be able to get. However, from a quick search with CLAUDE, the PX4 EKF works with windows of 10ms, of which 100Hz will result in that minimum 10ms period window. Setting it lower may lead to unintended effects.
Did you update the docs (and where)?
(FYI Docs are updated via mkdocs.yml and markdown files under
docs/. It should render at localhost:8000 when you rundocker compose up docs.)