Isaac Sim Version: 4.5.0
Operating System: Ubuntu 20.04
HW Information:
Intel(R) Xeon(R) Silver 4110 CPU @ 2.10GHz
64 GB of RAM
NVIDIA GeForce RTX 3090 with 24 GB of VRAM
Our team decided to switch to isaac from gazebo and we are genuinely surprised to see how slowly the simulator is working, ~9 fps. I ran the requirements test script beforehand and everything was marked as good or better. Is there something wrong with the installation?
The simulation I am trying is of the simple warehouse scene having the novaROS robot and running with the ROS2 bridge.
Camera stream is slow, isaac odometry node streams positions that seem buggy (the robot z value from Odometry is changing even tho the robot is moving on the floor).
Honestly I am confused, any hints into to why everything doesn’t seem to function properly will be appreciated.
To better assist you, could you please share the tutorial link you are following and explain how you are measuring the FPS in your simulation? This will help us understand your setup and pinpoint potential issues.
Ran these commands to start simulator with ROS bridge:
conda activate isaac
export ISAACSIM_PATH=“/local2/is234720/tools/isaac-sim”
export ISAACSIM_PYTHON_EXE=“${ISAACSIM_PATH}/python.sh”
source ${ISAACSIM_PATH}/setup_conda_env.sh
cd ${ISAACSIM_PATH}
source /local2/is234720/ros2_humble/install/setup.bash
./isaac-sim.selector.sh
Using the gui, I added simple_warehouse.usd, then novaROS.usd.
We would need to know what resolution you are running at. If it is 4k and you are under heavy load, that could be the case. If you are running at 720p, then that is pretty slow. Also please look at the actual heads up display built into the RTX viewport to give us the true RTX framerate. Also there is nothing “simple” about that warehouse, if you are referring to the showcase asset in the Showcase or Assets browser. That scene is massive and complex, with heavy physics.
I would start with an empty scene set at 1920x1080 resolution, and give us that FPS from this counter. Then load a few of the demo scenes and try those as well.
The assets in the following screenshot are Environments/Simpe_Warehouse/warehouse.usd and an urdf imported pioneer3dx. You will find the information you are looking for in the screenshot.
We are using the ros2.bridge for data acquisition from the robot.
