Gazebo real time factor decrease to 0.05 after starting legged_controller

qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

BSD 3-Clause "New" or "Revised" License

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Gazebo real time factor decrease to 0.05 after starting legged_controller #4

Closed zixinz990 closed 1 year ago

zixinz990 commented 1 year ago

When the gazebo world was launched, the time factor is 1.00. But after I started the legged_controller in rqt_controller_manager, the time factor decreased to only 0.05. My computer has RTX 3080, AMD Ryzen 9 5900HS, 16GB DDR4, and is good at running other Gazebo simulations. Is this normal?

qiayuanl commented 1 year ago

I guess you are using the DEBUG build type instead of RELEASE, try

catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo