I am trying to make a somewhat realistic simulation environment for our robots, but Gazebo struggles to load worlds with more than 1.000 objects in them. Ideally, I'd like to push it to 10.000 + objects. The objects are simple: about 96kB per mesh, and there are only a few unique meshes (about 10).
I was wondering if anyone ever tried to do something like that and managed to have Gazebo working.
I tried with Gazebo 9.0 and 11.0, paired with ROS Melodic on a machine with 128GB of ram, a 24 cores CPU and 2 RTX3090.
Best,
Antoine
