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Creating world with multiple models

asked 2020-09-24 14:39:01 -0500

adheeshenoy gravatar image


I wish to create a simulation world with about 200 models interacting with each other in it. However, when I run it in gazebo, the real time factor is extremely slow (approx 0.03) Is there a way to improve this speed and at the same time maintain the accuracy of the physics and the collisions?

Thank you.

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answered 2020-09-25 10:17:10 -0500

bhej gravatar image

updated 2020-09-25 10:17:59 -0500

I would suggest the following to try to improve the RTF without changing the physics parameters:

  • Keep all your models simple, especially your collisions! I would avoid using custom meshes as collisions, instead consider one of the shapes provided by Gazebo (i.e. Box, Cylinder, or Sphere).
  • If you have models not being used, maybe consider creating a plugin to turn off their physics or use kinematic updates when outside a specific range, and to turn it back on later. For example, you can try setting the model to static.
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@bhej Most of the models are spheres. Is there a plugin like the kind you mentioned? Or some reference that I can use?

adheeshenoy gravatar imageadheeshenoy ( 2020-09-29 16:03:10 -0500 )edit
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Asked: 2020-09-24 14:39:01 -0500

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Last updated: Sep 25 '20