Running physics first time takes longer
I noticed that running Gazebo for the first time takes longer than subsequent times. I noticed this when subscribing to /gazebo/getphysicsproperties service from ROS. What is being done this first time, and is there a way to speed it up?
Asked by hamzamerzic on 2017-06-27 13:52:58 UTC
Comments
I don't have the answer :/ but I'm interested because I am always surprised each time I launch a simulation for the first time
Asked by blevesque on 2017-06-29 07:08:25 UTC
I think the issue here is that initially Gazebo contacts the server to obtain models or other data that is needed for the simulation. Hopefully someone will leave a pointer on how to prevent this.
Asked by hamzamerzic on 2017-06-29 11:12:43 UTC
yes I am searching for a solution to disable this "Getting models from...". If i find a solution I will tell you
Asked by blevesque on 2017-06-30 03:53:21 UTC
if your world file includes models that are not found locally, gazebo will try and download them from the online model database. The model files are stored in ~/.gazebo/models. So if you pre-populate that directory with your models then gazebo should find it and launch immediately
Asked by iche033 on 2017-07-03 18:43:24 UTC
Actually there is now real way to disable "Getting models from...". @iche033 how can we pre-populate that directory with custom model (my robot) ?
Asked by blevesque on 2017-07-04 02:25:03 UTC
@iche033 I forgot to mention that I pre-populate the directory (I only deal with custom models anyway), but it still takes time. @blevesque You just download the models from Gazebo and place them in ~/.gazebo/models
Asked by hamzamerzic on 2017-07-04 02:42:56 UTC
that's strange. If all the models (incl. materials, meshes, textures) are in ~/.gazebo/models then you should never see the "Getting models from..." message. Does it print anything after this message? Can you post the full console output from running
gazebo --verbose your_world_name.world?Asked by iche033 on 2017-07-06 17:42:36 UTC