I am running gazebo7 ros-kinetic simulation on Ubuntu 16.04. For GPU I am using Nvidia RTX 2070. The gazebo version is 7.15.

Whenever I run gazebo it will only use CPU. I have an intel 9600k and when I run gazebo the CPU usage is at around 60%-70% for all 6 cores.

I have tried Nvidia driver 410, 415, 419, 430 with CUDA 10.0, 10.1 and Cudnn 7.4/7.5/7.6 but none of them work.

This is what nvidia-smi shows when gazebo is running:

| NVIDIA-SMI 430.26 Driver Version: 430.26 CUDA Version: 10.2 |

| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC | | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |

| 0 GeForce RTX 2070 Off | 00000000:01:00.0 On | N/A | | 0% 36C P5 21W / 215W | 239MiB / 7974MiB | 36% Default |

| Processes: GPU Memory | | GPU PID Type Process name Usage |

| 0 1087 G /usr/lib/xorg/Xorg 237MiB |

I have no idea why gazebo is not using GPU for computing.

I also own a NVIDIA GTX 1060 laptop and what I see there is gazebo will use only one CPU core while using GPU.

Anyone have any idea?

Thanks!