ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Hi @manderino,

The main problem is not (almost) Gazebo but the bottleneck generated by the pointclouds generation. I am sure you are using a ray plugin instead of a gpu_ray. The ray plugin is forcing Gazebo to generate the pointclouds with the CPU and that is a very slow tasks.

Change the Gazebo plugin to use a gpu_ray and you will maintaint the real time factor near 1.

The velodyne_simulator pacakage contain a implementation of a gpu_ray lidar plugin.

Hi @manderino,

The main problem is not (almost) Gazebo but the bottleneck generated by the pointclouds generation. I am sure you are using a ray plugin instead of a gpu_ray. The ray plugin is forcing Gazebo to generate the pointclouds with the CPU and that is a very slow tasks.

Change the Gazebo plugin to use a gpu_ray and you will maintaint the real time factor near 1.

The velodyne_simulator pacakage contain a package contains an implementation of a gpu_ray lidar plugin.