Is it possible to load a world file by chunks

Hi,

I am currently running a simulation with a huge world (several km) in Gazebo 7 and I want to improve its performance.

My question is related to the possibility of loading only one world but defined in several chunks, an approximation similar to most of the videogames published nowadays where the full world is loaded by parts and only one part is in memory if an actor is using it.

I would like to know if this is possible.

Thanks in advance.

Asked by Weasfas on 2019-10-21 05:35:59 UTC

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Answers

There isn't a way to do this out of the box in Gazebo. In the past, we've used solutions like spawning / deleting models on demand.

On Ignition (Gazebo's latest rewrite), there's the concept of levels which are loaded and unloaded incrementally as robots move around the world.

Asked by chapulina on 2019-10-22 02:03:07 UTC

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Hi @chapulina

Thanks for your answer. The link you provided I think that is not the one you wanted to post.

Are you refering to this?

Asked by Weasfas on 2019-10-22 07:29:33 UTC

hahaha yes!

Asked by chapulina on 2019-10-22 07:34:34 UTC

Well, since I am working with Gazebo 7 and ROS Kinetic I am not to able to use the level feature in this operational environment so I used a different approach:

I load the mesh with several collisions and enable the tag <collide_without_contact>1</collide_without_contact> to avoid Gazebo to perform collision computation and thus increasing the performance of the simulation.

Asked by Weasfas on 2019-10-24 03:05:40 UTC