Model spawning very slow
I've created a World Plugin with some algorithms that generate models out of camera data automatically. The models are specified in SDF syntax. The model generation is handled by multiple threads and models with 30-70 joints and bodies can be created in ~150-300ms.
But spawning the created SDF model to the world by using one of the three methods of the World Plugin tutorial (http://gazebosim.org/tutorials?tut=pl...) is very slow. Often it takes 1-3 seconds until the entire model is completely visible and usable in the world.
From my understanding all three mentioned methods of the World Plugin tutorial use a client server connection, so this is probably the reasion for the slow spawning process. Is there a way to accelerate the spawning procedure? Or can SDF models be added to the world by using some other, faster method? Maybe one without a connection to some node?
Any help is highly appreciated, as a faster model generation would be really helpful for me!
Thank you very much, skm