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Gazebo performance with GPU/CUDA (headless)

Hello, I have a question about Gazebo's performance improvements when using GPU/CUDA. We are runnig a robot headless (!) simulation and we need to do many of those, so we are looking for the best performance that we can squeeze out of the simulation.

We can run simulation on a GPU machine, and It looks like there is a way to make Gazebo use CUDA using http://wiki.ros.org/parallel_quickstep. Before I try it - did anyone try it and saw some significant speed improvements when using CUDA in headless mode for Gazebo ?