I am trying to do simulation of PX4 using gazebo (SITL), I am using iris model with optical flow camera, However I am
trying to simulate several IRIS at the same time, The problem is that when I add several IRIS model, the Real time factor decreases to 0.1 . The Frame rate stays at 60 fps.
I have Intel(R) Xeon(R) CPU E5-2609 v4 @ 1.70GHz (16 core physically) and gazebo is using only one core at the time.
Do you have any idea how to make multi-thread simulation using gazebo?? Or how to simulate several IRIS more efficiently in gazebo ??
I have also two Pixhawk hardware that can allow HITL simulation, Do you think that I can advantage of the hardware to reduce the load on gazebo? I know that The Real time factor is decreasing because of the physics of the quadcopters but I am trying to take advantages of any thing that can make simulation time factor better.
I am using gazebo 9.
I have only copied the model of the iris with optical flow several time after starting the simulation with PX4, during the simulation I monitor the occupation of the processor, and it is only one core that occupied at the a time.
Later I have inserted the same model from the gazebo model online repository, I copied it several times, at the end I have the same results.
The Real time factor decreases very badly, even it become very hard to do the simulation.