Real time factor too low

[Asif Sattar]

I want to use 2 Velodyne VLP-16 in my simulation at 1875 and 20hz, but even single one of them is too much to handle for my CPU. If run with only gazebo simulation, everything is fine. But as soon as I run cartographer or anything that subscribes to pointcloud topics, Real Factor time drops upto 0.1, I want to know if there is a way around it. Like running it on gpu or something, as there is one gazebo plugin gpu_ray.

[Kevin Hallenbeck]

I tried to use gpu_ray and gazebo_ros_block_laser on a simple 2d laser scanner, and it always crashed on my computer.

I haven't had success with Gazebo and GPU. I am open to pull requests if you create something.

[Bo Chen]

I tried gpu_ray, however it has some bugs: https://bitbucket.org/osrf/gazebo/issues/946/gpu-ray-sensor-vertical-ranges

gazebo_ros_block_laser also uses CPU and hence would lead to similar results I believe.

[Kevin Hallenbeck]

GPU support has been added in 1.0.7, however, a modern version of gazebo is required.