Gazebo runs extremely slow when connected to the internet

asked 2017-07-06 12:19:45 -0500

I'm relatively new to Gazebo and have been experiencing some performance issues when running Gazebo while connected to the internet. I'm running Gazebo 7 on Ubuntu 17.04 inside VMware Workstation 12 Pro, and every time I start the application it runs fine for about 10-16 seconds and then freezes for half a minute or so, followed by the real time factor dropping to around 0 before recovering slightly but performance afterwards is terrible and Gazebo freezes often. When I disconnect from the internet, however, I get no performance issues whatsoever. I believe it is something to do with connecting to the online model database but it's annoying to have to disconnect from the internet every time I run the simulation just to have usable performance. Is anyone else experiencing similar issues?

My specs: i7 6700 HQ, 16GB RAM, nVidia GTX 1060

(FYI, to get gazebo to run in VMware I've had to use OpenGL 2.1 using export SVGA_VGPU10=0)

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