How to improve gazebo simulation, increase fps , using WSL

Hello, so I am creating an simulation envrioment that is using Gazebo with ubuntu 20.04 lts in wsl with windows 10. The computer is good, and I am kind of a newbie with ubuntu and don't quite understand how is the process of using the wsl to use ubuntu, so I don't know what parameters or files or commands I have to use or edit, like, do I need to download driver for windows or just for the ubuntu.

Asked by GRS26 on 2021-03-03 16:43:35 UTC

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I think WSL doesn't connect natively to the graphics hardware yet, so I don't think there's a ton you can do.

https://devblogs.microsoft.com/commandline/the-windows-subsystem-for-linux-build-2020-summary/

I got very low FPS, UI lag, and weird/bad visuals when I tried Gazebo on WSL as well.

I installed ROS Melodic and Gazebo 9 natively on Windows and that works fine. Also installed Gazebo 11 standalone via conda as discussed here:

https://github.com/osrf/gazebo/issues/2899/

Haven't tested the conda install thoroughly yet, but Gazebo definitely runs with good performance. I had some graphics glitches using it with Noetic but it may have something to do with the robot description packages I'm using.

You might see if you can set up to install and run Gazebo natively and run the rest of your non-graphical stuff on WSL.

Asked by danzimmerman on 2021-03-06 23:06:29 UTC