High GPU Usage and Performance Issues with ROS2 Camera Topics on Turtlebot Model

Hello everyone,

I have recently encountered issues related to GPU usage and performance degradation while developing a ROS2 project using NVIDIA Isaac Sim 4.0 on Ubuntu 22.04 with an NVIDIA RTX 3090 graphics card. Isaac Sim is installed on a 2TB hard drive. Below are the details of my issues and a specific question regarding the Visual SLAM tutorial:

  1. Tutorials and Actions:
  • I followed the “URDF Import: Turtlebot” tutorial to successfully import the URDF model of the robot along with a simple scene.
  • Following the “Driving TurtleBot via ROS2 messages” and “ROS2 Cameras” tutorials, I added the publication of /cmd_vel and /rgb topics through Omnigraph.
  • I also tried running the scenario as per the Visual SLAM tutorial. After loading the scene and hitting play, the system became very laggy with GPU utilization reaching 100%.
  1. Issue Description:
  • When running the /cmd_vel topic alone, the GPU utilization is at 62%.
  • However, adding the /rgb and /depth camera topics caused the GPU utilization to surge to 96%, resulting in noticeable system lag.
  • The situation further deteriorated when attempting the Visual SLAM tutorial, where GPU utilization maxed out at 100% upon starting the simulation.
  1. Questions:
  • Has anyone experienced similar issues where just adding a camera’s /rgb and /depth topics leads to significant performance degradation?
  • Does running the Visual SLAM scenario typically result in such high resource usage, and how can this be mitigated?
  • Are there any recommendations or tips for optimizing or maintaining smooth operation of the simulation environment when additional topics or computational demands are introduced?

I am looking for any possible optimization advice or configuration adjustments to address these performance issues. Any insights or suggestions would be greatly appreciated!

https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_camera.html#isaac-sim-app-tutorial-ros2-camera

Hey @1070436023 sorry to follow up late on this topic. Do you still experience this issue with Isaac Sim 4.5?

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