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Gazebo simulation time speed up.

asked 2014-04-10 10:21:34 -0500

Carlos Hdz gravatar image

Hi everyone.

I have been trying to simulate two Turtlebot II on Gazebo.

I wonder if it is possible to perform simulations with time increased several times (pun). I'm not really concerned in visually observe the movements, but I want to run several times the same simulation and store different measurements / data for statistical analysis of the project I'm working on.

Is this kind of high-speed simulation possible in Gazebo?

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answered 2014-04-10 11:44:40 -0500

Given that gazebo always performs real-time dynamics simulation, there are limits to the speed that can be achieved on commodity hardware. There are some options though:

  • Get a faster computer

  • Reduce dynamics simulation fidelity (time step, solver iterations). Might make simulation unstable though

  • Reduce scenario/robot complexity (simple geometries, switch off/don't use sensors you don't need)

If you only require a relatively abstract robot model, using Stage or the recently introduced STDR simulator instead might be another option.

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mmm... I will try them... Thank you!

Carlos Hdz gravatar image Carlos Hdz  ( 2014-04-10 14:32:04 -0500 )edit

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Asked: 2014-04-10 10:21:34 -0500

Seen: 1,729 times

Last updated: Apr 10 '14