Performance¶
Physics runs at 120 Hz. Rendering, which the cameras need, runs at
--render-hz (default 10 Hz). Measured real-time factor, headless, RTX 2080 Ti,
640×480 cameras:
--render-hz |
10 | 20 | 30 |
|---|---|---|---|
| RTF | 1.45 | 0.96 | 0.71 |
The simulator is paced to real time (--realtime 1.0), so RTF above 1 means it
keeps up. Use --no-cameras when you do not need images.
Camera images on the ROS 2 side¶
Fast DDS's default socket buffers drop large images. Subscribers need bigger buffers:
export FASTDDS_BUILTIN_TRANSPORTS=UDPv4?sockets_size=4194304
docker/compose.yaml sets this already.