Gazebo-7 is slower than gazebo-2

I run the same Baxter robot simulation in gazebo-2 with ros-indigo and gazebo-7 with ros-kinetic. But the simulation in gazebo-7 is much slower than gazebo-2. In gazebo-2 if I set the real time update rate to 10000, it can reach around 5000, but in gazebo-7 it can only reach 2000. So the simulation in gazebo-7 is inefficient. Is this normal? And how should I speed up it in gazebo-7? Changing max step size too much is not a good idea. it will influence the simulation. Many thanks.

Asked by Will on 2018-07-26 04:45:19 UTC

Comments

I guess maybe more accurate is the reason. But it is not good for many applications. If the simulation is in the same speed or slower than reality, accuracy is meaningless for some applications. I can run it directly in reality, which should be the most accurate.

Asked by Will on 2018-07-26 05:08:17 UTC