Isaac sim 23.1.1 is very laggy

I am using the Isaac sim version 23.1.1. When I open the Isaac Example → ROS → Navigation demo on an empty Stage, all the scenes load fine without any stutter. However, once I click the play button, it starts to stutter noticeably. When I use “ros2 run teleop_twist_keyboard teleop_twist_keyboard” to try and control the AGV, the stuttering is evident. Moreover, when I open rviz2 to display the AGV’s image, it becomes extremely laggy. My computer specifications are as follows:

  1. Intel® Xeon(R) Gold 6226R CPU @ 2.90GHz × 64
  2. Memory: 128GB
  3. Ubuntu 20.04
  4. Driver Version: 535.161.08, CUDA Version: 12.2
  5. GPU: RTX A6000

@han_hai_liang i am just another user, do you see any console messages that pertain to shader compilation? and i am curious whether the performance stay as is or does it improve after a certain time?

2024-05-12 01:59:20 [38,158ms] [Warning] [omni.usd] Unexpected reference count of 2 for UsdStage ‘anon:0xd3f7330:World0.usd’ while being closed in UsdContext (this may indicate it is still resident in memory).
2024-05-12 01:59:31 [49,206ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
2024-05-12 02:00:14 [91,657ms] [Warning] [carb] Client omni.physx.plugin has acquired [omni::physics::schema::IUsdPhysics v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-05-12 02:00:37 [114,547ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/Nova_Carter_ROS with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
2024-05-12 02:00:47 [124,720ms] [Warning] [omni.physx.tensors.plugin] Duplicate joint name ‘FixedJoint’ in articulation metatype
2024-05-12 02:00:47 [124,723ms] [Warning] [omni.fabric.plugin] No source has valid data array=0x285f2b60 usdValid=0 cpuValid=0
2024-05-12 02:00:47 [124,723ms] [Warning] [omni.fabric.plugin] No source has valid data array=0x285f6f18 usdValid=0 cpuValid=0
2024-05-12 02:00:48 [126,228ms] [Warning] [rtx.rtxsensor.plugin] Using User-specified coordinate frame quaternion (0.000000, 0.000000, 0.000000, 1.000000) in RTXSensor
2024-05-12 02:00:49 [126,558ms] [Warning] [omni.timeline.plugin] Deprecated: direct use of ITimeline callbacks is deprecated. Use ITimeline::getTimeline (Python: omni.timeline.get_timeline_interface) instead.
2024-05-12 02:00:55 [132,578ms] [Warning] [carb] Client omni.anim.graph.core.plugin has acquired [carb::tasking::ITasking v2.4] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2024-05-12 02:01:44 [181,381ms] [Warning] [omni.kit.window.property.templates.simple_property_widget] PhysicsMaterialBindingWidget.build_items took 0.8664417266845703 seconds
2024-05-12 02:01:45 [183,247ms] [Warning] [carb] Client omni.ui has acquired [omni::ui::IGlyphManager v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)