How to run a single simulation of ROS on multicores? [closed]

asked 2020-03-08 04:28:33 -0500

mkb_10062949 gravatar image

Hi, I am working with Reinforcement Learning train a UR5 to reach a target position. I am using a 64 Core Processor which brings the "Real Time Factor" of the simulation >2 and a "frame rate of 62" which makes the simulation X2 times faster than the real time! but what I notice is when training is going on the simulation and my code only occupies 20% of the CPU which I believe is inefficient. Moreover, the main problem is when a other person tries to run his code on the same server the "Real Time Factor" goes down to 1. I beleive that this is because the ROS simulation is running on just 1 CPU. Is there a way to run this one simulation on all the cores on the CPU to get a higher Real Time Factor and a higher FPS?

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by gvdhoorn
close date 2020-03-08 05:45:17.565505

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"real-time factor" implies you're using Gazebo.

if so: please post this on answers.gazebosim.org.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-08 05:45:13 -0500 )edit

Question on Gazebo Answers: How to run a single simulation of ROS on multicores?.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-09 03:36:58 -0500 )edit
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