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.
Issue #8 resolved