How to reduce CPU usage due to large number of models
In my gazebo setup, I have two ROS-controlled robots and a large number of smaller models to be manipulated. Having recently increased the number of smaller models to around 75, this has brought my realtime factor down to around 0.3. Most of the time, however, these models can be static. I wrote a plugin that I thought would let me manage their static properties by calling Link::SetStatic(), Link::SetLinkStatic(), and Model::SetStatic(), but that didn't seem to work at all.
Are there any other ways in which I could reduce the CPU usage for simulating these objects? I realize that my only choice may be to have less of them, but that makes the simulation less compelling.
On a related note, is there a recommended way to profile Gazebo?
Edit: I'm using ROS Indigo and whichever version of Gazebo that comes with it.
