How to increase Isaacsim fps when using ros camera?

Omniverse Isaac Sim
1

I build a robot with two cameras that publishing depth and rgb at 5hz in standalone isaacsim , the camera resolution is 1280x720 . But the fps is really low , about 20 fps .
How should I increase isaacsim FPS to 60 ?
And profilers shows like that

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image799×867 204 KB

2

Really Thanks if you could help me !

8

Hi @fzg7919 , the FPS in Isaac Sim depends on various factors, major one being complexity of the scene. Are you using Real time rendering or path tracing? Rendering reference. On lowering the resolution, what numbers do you get?