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Bottleneck in real time factor

Hello all,

I am working on a project where I am training an UAV with a simple genetic algorithm. I am using gazebo, ROS and SITL. I already managed to evolve the controller in a few hundred simulations but this takes some hours.

Therefore, my objective is to run the simulation faster. I already tried to set the update_rate to 0, but my real time factor keeps between 0.6 and 1 (1.05 on tops). I found that when I erase the drone of the world, the real time factor goes to 30-40. I am using the Iris drone model from ardupilot. I am a little bit confused about this because my CPU usage is 20-30% during the runs, with gzserver having the most CPU % usage. I already search in many potst and questions but I cant find anything that works. Is there anything that you suggest me to do?

Thank you!