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How to improve communication performance between Gazebo Ubuntu and Windows?


I'm working on an application that runs on Windows using Unity3d while Gazebo is running on Ubuntu in a virtual machine. The communication between them is made via ROS topics/services and Gazebo plugins. The physics is calculated on Gazabo while the Windows application is used for visualization and user control.

Right now, my windows application calls Gazebo API functions using ROS services, but the performance is too bad. Every time my main application calls a service (e.g for setting a joint velocity), it freezes until the service is complete. Calling a dozen services in each simulation step is enough to make the application execution impossible.

Is there a way to improve communication performance between the two platforms? Any suggestion is welcome. We are thinking about using ROS actions, but we're not sure it's gonna solve our problem.


Eduardo de Albuquerque