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hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/
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Gazebo simulation uses complex collision geometry #41

Open nickswalker opened 2 years ago

nickswalker commented 2 years ago

I've noticed that I have to run quite small stepsizes to get reasonable behavior from the simulator (see #40) and end up getting about half realtime performance. One part of the simulation that jumps out for possible performance optimization is the collision geometry. Currently, the URDF reuses the display meshes for collision bounds:

https://github.com/hello-robot/stretch_ros/blob/203726e1911fffcc833bec05048658885668a5e2/stretch_description/urdf/stretch_main.xacro#L39-L47

These should use simplified meshes or primitives where possible.

vatanaksoytezer commented 2 years ago

So I agree that we should use simplified geometries (and will send a PR for that), the bottleneck here is realsense rather than the meshes. I am going to open a PR to make realsense closed by default, so far I have been %99 real time always with realsense closed vs %40 real time with realsense.

nickswalker commented 2 years ago

Fixed in our fork: Visual rviz_screenshot_2022_05_01-13_54_41 Collision rviz_screenshot_2022_05_01-13_54_52