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In electric, I am getting about ~0.35Xreal-time on my desktop (i7 quad), if you are getting 0.03xreal-time, something is wrong. Can you try profiling it with your favorite profiler (e.g. valgrind) and post some results?

The 0.35Xreal-time should be improvable too, but let start with the 0.03X problem?

In electric, I am getting about ~0.35Xreal-time on my desktop (i7 quad), if you are getting 0.03xreal-time, something is wrong. Can you try profiling it with your favorite profiler (e.g. valgrind) and post some results?

The 0.35Xreal-time should be improvable too, but let start with the 0.03X problem?

In electric, I am getting about ~0.35Xreal-time on my desktop (i7 quad), if you are getting 0.03xreal-time, something is wrong. Can you try profiling it with your favorite profiler (e.g. valgrind) and post some results?

The 0.35Xreal-time should be improvable too, but let start with the 0.03X problem?

I tried turning off all the cameras kinect camera by commenting out following line in the urdf

<xacro:cob_kinect_gazebo_v0 name="${name}" ros_topic="${ros_topic}"/>

and I am getting about 1.4Xreal-time. Can the camera sensor generation be throttled?

In electric, I am getting about ~0.35Xreal-time on my desktop (i7 quad), if you are getting 0.03xreal-time, something is wrong. Can you try profiling it with your favorite profiler (e.g. valgrind) and post some results?

The 0.35Xreal-time should be improvable too, but let start with the 0.03X problem?

I tried turning off the kinect camera by commenting out following line in the urdf

<xacro:cob_kinect_gazebo_v0 name="${name}" ros_topic="${ros_topic}"/>

and I am getting about 1.4Xreal-time. Can the camera sensor generation be throttled?

<?xml version="1.0"?>
<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
      xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="cob_kinect_gazebo_v0" params="name ros_topic">

  <gazebo reference="${name}_frame">

    <sensor:camera name="${name}_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>320 240</imageSize>
      <hfov>57</hfov>
      <nearClip>0.01</nearClip>
      <farClip>5</farClip>
      <updateRate>1.0</updateRate>
      <baseline>0.2</baseline>
      <controller:gazebo_ros_openni_kinect name="${name}_controller" plugin="libgazebo_ros_openni_kinect.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <imageTopicName>/${ros_topic}/image_raw</imageTopicName>
        <pointCloudTopicName>/${ros_topic}/points</pointCloudTopicName>
        <cameraInfoTopicName>/${ros_topic}/camera_info</cameraInfoTopicName>
        <frameName>/${name}_frame</frameName>
        <pointCloudCutoff>0.5</pointCloudCutoff>
        <distortion_k1>0.00000001</distortion_k1>
        <distortion_k2>0.00000001</distortion_k2>
        <distortion_k3>0.00000001</distortion_k3>
        <distortion_t1>0.00000001</distortion_t1>
        <distortion_t2>0.00000001</distortion_t2>
      </controller:gazebo_ros_openni_kinect>
    </sensor:camera>

    <material value="Gazebo/Red" />
    <turnGravityOff>true</turnGravityOff>
  </gazebo>

</xacro:macro>

</root>

In electric, I am getting about ~0.35Xreal-time on my desktop (i7 quad), if you are getting 0.03xreal-time, something is wrong. Can you try profiling it with your favorite profiler (e.g. valgrind) and post some results?

The 0.35Xreal-time should be improvable too, but let start with the 0.03X problem?

I tried turning off the kinect camera by commenting out following line in the urdf

<xacro:cob_kinect_gazebo_v0 name="${name}" ros_topic="${ros_topic}"/>

and I am getting about 1.4Xreal-time. Taking a closer look, the current i code was using gazebo_ros_block_laser plugin with 160X160 configuration. A better way to implement this is to use the gazebo_ros_openni_kinect plugin, for example, update your kinect.gazebo.xacro file to look something like this:

<?xml version="1.0"?>
<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
      xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="cob_kinect_gazebo_v0" params="name ros_topic">

  <gazebo reference="${name}_frame">

    <sensor:camera name="${name}_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>320 240</imageSize>
      <hfov>57</hfov>
      <nearClip>0.01</nearClip>
      <farClip>5</farClip>
      <updateRate>1.0</updateRate>
      <baseline>0.2</baseline>
      <controller:gazebo_ros_openni_kinect name="${name}_controller" plugin="libgazebo_ros_openni_kinect.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <imageTopicName>/${ros_topic}/image_raw</imageTopicName>
        <pointCloudTopicName>/${ros_topic}/points</pointCloudTopicName>
        <cameraInfoTopicName>/${ros_topic}/camera_info</cameraInfoTopicName>
        <frameName>/${name}_frame</frameName>
        <pointCloudCutoff>0.5</pointCloudCutoff>
        <distortion_k1>0.00000001</distortion_k1>
        <distortion_k2>0.00000001</distortion_k2>
        <distortion_k3>0.00000001</distortion_k3>
        <distortion_t1>0.00000001</distortion_t1>
        <distortion_t2>0.00000001</distortion_t2>
      </controller:gazebo_ros_openni_kinect>
    </sensor:camera>

    <material value="Gazebo/Red" />
    <turnGravityOff>true</turnGravityOff>
  </gazebo>

</xacro:macro>

</root>

and you should see drastic improvements in speed.

In electric, I am getting about ~0.35Xreal-time on my desktop (i7 quad), if you are getting 0.03xreal-time, something is wrong. Can you try profiling it with your favorite profiler (e.g. valgrind) and post some results?

The 0.35Xreal-time should be improvable too, but let start with the 0.03X problem?

I tried turning off the kinect camera by commenting out following line in the urdf

<xacro:cob_kinect_gazebo_v0 name="${name}" ros_topic="${ros_topic}"/>

and I am getting about 1.4Xreal-time. Taking a closer look, the current code was using gazebo_ros_block_laser plugin with 160X160 configuration. A better way to implement this is to use the gazebo_ros_openni_kinect plugin, for example, update your kinect.gazebo.xacro file to look something like this:

<?xml version="1.0"?>
<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
      xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="cob_kinect_gazebo_v0" params="name ros_topic">

  <gazebo reference="${name}_frame">

    <sensor:camera name="${name}_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>320 240</imageSize>
      <hfov>57</hfov>
      <nearClip>0.01</nearClip>
      <farClip>5</farClip>
      <updateRate>1.0</updateRate>
      <baseline>0.2</baseline>
      <controller:gazebo_ros_openni_kinect name="${name}_controller" plugin="libgazebo_ros_openni_kinect.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <imageTopicName>/${ros_topic}/image_raw</imageTopicName>
        <pointCloudTopicName>/${ros_topic}/points</pointCloudTopicName>
        <cameraInfoTopicName>/${ros_topic}/camera_info</cameraInfoTopicName>
        <frameName>/${name}_frame</frameName>
        <pointCloudCutoff>0.5</pointCloudCutoff>
        <distortion_k1>0.00000001</distortion_k1>
        <distortion_k2>0.00000001</distortion_k2>
        <distortion_k3>0.00000001</distortion_k3>
        <distortion_t1>0.00000001</distortion_t1>
        <distortion_t2>0.00000001</distortion_t2>
      </controller:gazebo_ros_openni_kinect>
    </sensor:camera>

    <material value="Gazebo/Red" />
    <turnGravityOff>true</turnGravityOff>
  </gazebo>

</xacro:macro>

</root>

and you should see drastic improvements in speed.