What could be disadvantages of making lots of topics in Gazebo?

For example, populating a world with 100 actors each having two topics, or populating a world with 100 actors each having one topic. What factors may deter me from making 'too many' topics? Please excuse me if my question sounds broad, I am looking to deepen my understanding of how Gazebo and ROS topics affect each other and my simulation.

Asked by bhej on 2018-06-26 08:37:06 UTC

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Answers

So a "good" gazebo node should only do the computation and publishing if someone subscribed to the topic. So its hard to tell if just having this topics may affect the simulation. But you can be sure due to the data transfer, the more topics are published at the same time the lesser the frequency will be. And this may also effect the simulation (e.g. real time factor and so on).

Asked by wentz on 2018-06-28 03:34:57 UTC