Slow real_time_factor with 6 arcucopters SITL

Hello,

I am trying to simulate the behavior of a fleet of 6 drones by using ArduCopter SITL and gazebo 8.6. Each SITL is linked to a drone model using libArduCopterPlugin and libLiftDraftPlugin. My problem is the simulation is extremely slow : a realtimefactor of 0.23 in average, while my machine isn't doing much work : CPU at 10%, GPU at 40% and RAM at 25%. Is there a way to speed things up to achieve a real time simulation ?

My work is based on the iris.world example.

Thanks in advance.

Asked by dve_bonx on 2018-10-19 03:27:46 UTC

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Answers

If your CPU percentage is that low, then the plugins you're using might be blocking the simulation update cycle.

How did you measure the CPU, GPU, and memory usage?

Asked by nkoenig on 2018-10-19 08:57:38 UTC