Gazebo 7 Real Time factor dropped below 0.2

[Brual Shah]

From last couple of days may be after the new ARIAC version update. The gazebo simulations are running really slow. The real time factor has gone below 0.2 (reaches to 0.3-0.35 after few minutes). This issue is consistent with Gazebo 7.7 and 7.8.

I have tried installing the entire ARIAC system on 4 different computers in the lab running Trusty and Indigo.

I have also tried rolling back the ARIAC version and going to the previous version from May and it seems to have no effect on real time factor.

[Deanna Hood]

What trial config are you using? If you disable logging by setting this line in the trial config to false does anything improve?

[Brual Shah]

Nope. That does not seem to help.

Everything was perfectly working fine like a couple of days ago. We did not update our version to Gazebo 7.8 which was rolled out a few days ago.

Does anything in ARIAC new version of the code changes stuff in Gazebo which is not reversible by reverting back the previous commit of ARAIC code.

[Brual Shah]

Changing the gazebo state logging to 'false' has sort of fixed the issue. It goes to real time factor of 1 after like a minute or so.

Thank you.

[Brual Shah]

In the trial config change the gazebo_state_logging -> 'false' . This improves the gazebo real time performance.

[Deanna Hood]

There have been some changes in gazebo logging recently. Could you provide the output of dpkg -s gazebo7 | grep Version for our information please?

[Brual Shah]

I have this version for now "Version: 7.8.1-1~trusty"

[Deanna Hood]

OK. if you ever need to re-enable logging, downgrading to gazebo7.7 might fix your RTF. This is how you would do that:

# Remove your current Gazebo version
sudo dpkg -r --force-depends libgazebo7 libgazebo7-dev gazebo7 gazebo7-common gazebo7-plugin-base

# Download the 7.7 binaries
cd ~/Downloads
wget https://s3.amazonaws.com/osrf-distributions/gazebo/releases/libgazebo7_7.7.0-1~trusty_amd64.deb
wget https://s3.amazonaws.com/osrf-distributions/gazebo/releases/libgazebo7-dev_7.7.0-1~trusty_amd64.deb
wget https://s3.amazonaws.com/osrf-distributions/gazebo/releases/gazebo7_7.7.0-1~trusty_amd64.deb
wget https://s3.amazonaws.com/osrf-distributions/gazebo/releases/gazebo7-common_7.7.0-1~trusty_all.deb
wget https://s3.amazonaws.com/osrf-distributions/gazebo/releases/gazebo7-plugin-base_7.7.0-1~trusty_amd64.deb

# Install the new binaries
dpkg --force-all -i \
    libgazebo7_7.7.0-1~trusty_amd64.deb \
    libgazebo7-dev_7.7.0-1~trusty_amd64.deb \
    gazebo7_7.7.0-1~trusty_amd64.deb \
    gazebo7-common_7.7.0-1~trusty_all.deb \
    gazebo7-plugin-base_7.7.0-1~trusty_amd64.deb