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Does Gazebo support multiple physics threads?

asked 2014-10-16 08:20:21 -0500

robagar gravatar image

updated 2014-10-16 08:29:55 -0500

Does Gazebo utilize multiple threads for physics calculations?

Watching the process in htop it appears to launch a whole bunch of threads, but none of them appear to be very active, even after dropping a number of models into the scene.

I'm launching Gazebo with gazebo -e bullet.

(Acccording to a previous question asked back in 2012 multithreading was not available at that time, but was about to become so, pending an imminent update to the Bullet library)

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answered 2014-10-19 04:01:59 -0500

scpeters gravatar image

Gazebo itself is multi-threaded, including several threads for sensors, message passing, and rendering, though currently just one thread for physics. The new bullet3 API supports GPU acceleration, but it has not yet been integrated into Gazebo (using bullet 2 api still). Please vote for the issue here if you want to see bullet3 support in Gazebo.

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Asked: 2014-10-16 08:20:21 -0500

Seen: 9,253 times

Last updated: Oct 19 '14