Dear all,

I have the following problem: Iam writing a simple ros node with Ogre 3D (1.9) visualization (e.g. some data from certain messages is used to define the position and orientation of some simulated entities), in accordance to: https://github.com/Unnar3/rosOgre

However, I get very bad performance (~15 frames), even when rendering a scene without any geometry. Has anybody had a similar experience?

I tried the following:

• Disabling VSYNC in Ogre config and nvidia-settings
• Two different rendering approaches 1) The ros node does not subscribe to / publish any messages and is basically just calling renderOneFrame from Ogre 2) The ros node does not subscribe to / publish any messages and directly calls startRendering from Ogre
• Compiling the code with release flags

All above implementations suffer the same bad performance, using Ubuntu 14.04 and ROS Indigo. The same code runs on the same machine on Windows (without the ROS framework) with OpenGL at >1000 fps.

FYI: I will also ask this question in the Ogre forums, just wanted to have feedback for my problem from both communities.

EDIT: Implementing a small sample application in OpenGL outside of ROS performs as expected.