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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Problem about non-real-time simulation #1947

Open 1Jyfc opened 2 years ago

1Jyfc commented 2 years ago

Hello SVL team!

I tried your Python API of running non-real-time simulation by using sim.run(60, 2) to shrink running time from 60s to 30s. And I found that if I used this API, during the simulation the car might start snaking and stop after few seconds. I thought my device might not meet the performance conditions required to run this way, so I tried to monitor the cpu and video card, but the results showed that the cpu and video card were far from being fully occupied. How can I confirm how many times of speed my device can run simulation with? Hope for reply, thanks a lot.

And here is information of my CPU and nvidia card while simulation is running: cpu gpu

I am using release version of svl simulator 2021.1.1, and my OS is Ubuntu 18.04.

EricBoiseLGSVL commented 2 years ago

We recommend using the latest release. The simulator can support faster than real-time simulations if the hardware can support, correct. Does your AD-stack support faster than real-time? Does your switch/router support the data?